Anti-collision mechanism and robot

Abstract

The utility model discloses an anti-collision mechanism and a robot, and relates to the technical field of robots, the anti-collision mechanism comprises a collision structure, the collision structure comprises a through hole, and the through hole is arranged to be used for receiving a cylinder for attaching the collision structure to a robot main body, so that the collision structure can rotate around the cylinder; and one end of the first elastic piece is connected to the collision structure, and the other end of the first elastic piece is used for being connected with the robot body so as to achieve a buffering effect on the rotating collision structure. According to the anti-collision mechanism, due to the fact that the collision structure capable of rotating relative to the robot body and the first elastic piece used for achieving the buffering effect on the collision structure are arranged, buffering force can be provided when the robot collides, impact force generated during collision is effectively resisted, damage to components of the robot body is avoided, and reliable operation of the robot is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and more specifically, to an anti-collision mechanism and a robot. Background Art

[0002] During the operation of a robot (such as a lawn mowing robot), it may collide with an obstacle, which may cause damage to the robot and affect its normal use.

[0003] By installing an anti-collision bar or bumper in front of the robot body to prevent the robot from being damaged by collision. However, in actual application, when the impact force is too large, the anti-collision bar or bumper is easily damaged and needs to be replaced.

[0004] In summary, how to provide an anti-collision mechanism that can resist a large impact force is an urgent problem to be solved by those skilled in the art at present. Utility Model Content

[0005] In view of this, the purpose of the present application is to provide an anti-collision mechanism that can provide a buffering force when the robot collides, can resist the large impact force generated during the collision, and effectively prevent the robot body from being damaged. Another purpose of the present application is to provide a robot including the above anti-collision mechanism.

[0006] To achieve the above purpose, the present application provides the following technical solutions:

[0007] An anti-collision mechanism, comprising:

[0008] A collision structure, the collision structure includes a through hole, and the through hole is arranged to receive a column for attaching the collision structure to the robot body, so that the collision structure can rotate around the column;

[0009] A first elastic member, one end of the first elastic member is connected to the collision structure, and the other end is used to connect to the robot body to form a buffering effect on the rotating collision structure.

[0010] In one implementation, the through hole is arranged such that the column can be displaced relative to the collision structure in a first direction within the through hole, and the first direction is the front-back direction of the collision structure.

[0011] In one implementation, the through hole is a rectangular hole;

[0012] Or, the through hole is an oval hole;

[0013] Or, the through hole is a rounded rectangular hole with arcs at both ends.

[0014] In one implementation, rib strips are provided on both side portions at the rear end of the collision structure, and the rib strips protrude from the rear end surface of the collision structure and are used to contact the front wheels of the robot body when the collision structure rotates to the limit position.

[0015] In one implementation, the collision structure further includes:

[0016] A collision plate, the front end of which is used to contact an obstacle;

[0017] A base, which is provided at the rear end of the collision plate and is provided with the through hole, and the collision plate and the base are connected by a plurality of second elastic members.

[0018] In one implementation, the base includes a rod portion and a connecting portion connected to the rod portion, the through hole is provided on the connecting portion, and the first elastic member is provided on the connecting portion.

[0019] In one implementation, at least two first elastic members are provided. In the second direction, at least two first elastic members are located on both sides of the through hole, and the second direction is the left-right direction of the collision structure.

[0020] In one implementation, the base is provided with mounting holes, and at least a part of the second elastic member is located in the mounting holes;

[0021] One end of the second elastic member is connected to the rear end surface of the collision plate, and the other end of the second elastic member is connected to the bottom wall surface of the mounting hole.

[0022] In one implementation, a detection element for detecting a collision is provided on the collision structure, and the detection element is used to be electrically connected to a control element provided on the robot body.

[0023] In one implementation, the number of the detection elements is at least two, and a plurality of the detection elements are arranged in sequence along the length direction of the collision plate, and at least one detection element is provided on each side of the longitudinal symmetry plane of the collision structure.

[0024] In one implementation, the detection element includes a Hall chip and a permanent magnet disposed opposite to the Hall chip, and one of the collision plate and the base is provided with the permanent magnet, and the Hall chip is provided at the corresponding position of the other.

[0025] This application also provides a robot, which includes a robot body and the anti-collision mechanism described in any one of the above, and the anti-collision mechanism is installed on the robot body.

[0026] In one implementation, it further includes a mowing assembly provided at the lower end of the robot body for performing cutting operations.

[0027] The present application also provides a robot, including a robot main body and an anti-collision mechanism, where the anti-collision mechanism includes:

[0028] A collision structure, the front end of which is used to contact an obstacle, and the rear end is rotatably connected to the robot main body;

[0029] A first elastic member, one end of which is connected to the collision structure and the other end is connected to the robot main body, so as to form a buffering effect on the collision structure that is impacted by an obstacle and rotates.

[0030] In one implementation, the collision structure includes:

[0031] A collision plate, the front end of which is used to contact an obstacle;

[0032] A base, which is arranged at the rear end of the collision plate. The collision plate and the base are connected by a plurality of second elastic members, and the base is rotatably connected to the robot main body.

[0033] In one implementation, the base includes a rod portion and a connecting portion connected to the rod portion. The connecting portion is rotatably connected to the robot main body, and the first elastic member is arranged on the connecting portion.

[0034] In one implementation, at least two first elastic members are provided. In the second direction, at least two first elastic members are located on both sides of the rotational connection position between the collision structure and the main body. The second direction is the left-right direction of the collision structure.

[0035] The anti-collision mechanism provided by the present application includes a collision structure and a first elastic member. The collision structure includes a through hole for receiving a column body that attaches the collision structure to the robot main body, so that the collision structure can rotate around the column body. When the robot collides, first, the collision structure directly contacts the obstacle to protect the robot main body. Then, under the combined action of the column body and the through hole, the collision structure can rotate around the column body, that is, the collision structure can rotate relative to the robot main body. One end of the first elastic member is connected to the collision structure and the other end is connected to the main body. When the collision causes the collision structure to rotate, the first elastic member can play a buffering effect, which can prevent the acting force generated by the collision from being directly transmitted to the main body, avoid damaging the main body or the sensing component, etc., so as to achieve effective anti-collision, and can also protect the collision structure to prevent the collision structure from breaking when being impacted by the impact force. Description of the Drawings

[0036] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0037] Figure 1 Structural schematic diagram of the anti-collision mechanism provided by the present application;

[0038] Figure 2 Structural schematic diagram of the base provided by the present application;

[0039] Figure 3 Front view of the base provided by the present application;

[0040] Figure 4 Top view of the robot provided by the present application;

[0041] Figure 5 Front view of the robot provided by the present application;

[0042] Figure 6 Front and rear sectional view of the robot provided by the present application.

[0043] Figures 1-6 In, the reference numerals include:

[0044] 01 - Collision structure;

[0045] 1 - Main body; 2 - First elastic member; 3 - Cylinder; 4 - Base; 5 - Collision plate; 6 - Rib; 7 - Second elastic member; 8 - Positioning post; 9 - Hall chip; 10 - Mowing assembly;

[0046] 41 - Connecting portion; 42 - Rod portion;

[0047] 411 - Through hole; 421 - Mounting hole. Detailed implementation manners

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope protected by the present application.

[0049] The core of the present application is to provide an anti-collision mechanism that can provide a buffering force during collision, achieve effective anti-collision, and avoid the problem of structural damage caused by large impact force. Another core of the present application is to provide a robot including the above anti-collision mechanism.

[0050] The anti-collision mechanism provided in this application is attached to the robot body 1 to achieve effective anti-collision, avoid damage to the robot body 1 or the sensing components on the body, and ensure reliable operation of the robot when encountering obstacles. The robot body 1 here can be a vehicle body or a vehicle frame, etc., which is specifically determined according to the actual installation situation. The anti-collision mechanism specifically includes a collision structure 01 and a first elastic member 2. Please refer specifically to Figure 1 , Figure 4 , Figure 5 .

[0051] The collision structure 01 includes a through hole 411. The collision structure 01 is attached to the robot body 1 through a column 3. Specifically, the through hole 411 is used to receive the column 3. Under the cooperation of the column 3 and the through hole 411, the collision structure 01 can rotate around the column 3. When encountering a collision, the collision structure 01 can rotate around the column 3 by a certain angle. Here, the column 3 is a rotating shaft perpendicular to the advancing direction of the robot body 1. If the advancing direction of the robot body 1 is the front-back direction (such as Figure 6 shown by the dotted arrow direction), then the axis direction of the column 3 is the up-down direction (such as Figure 6 shown by the solid arrow direction).

[0052] When a collision causes the collision structure 01 to rotate relative to the robot body 1, the first elastic member 2 can provide an effective buffering force to prevent the acting force generated by the collision from being directly transmitted to the robot body 1. The first elastic member 2 can specifically be a spring, an elastic body, etc. Specifically, one end of the first elastic member 2 is connected to the collision structure 01, and the other end is used to connect to the robot body 1. When the collision structure 01 contacts an obstacle in the advancing direction of the robot and generates a large impact force, the first elastic member 2 is compressed to achieve buffering, so as to resist the large impact force received by the collision structure 01 and form a buffering effect on the rotating collision structure 01 to avoid damage to the structure of the robot body 1.

[0053] One, two or more first elastic members 2 can be provided, as long as they can be connected to the collision structure 01 and the robot body 1 to provide an effective buffering effect.

[0054] The position where the first elastic member 2 is connected to the robot body 1 can be the front end, rear end, left end or right end of the robot body 1, etc., which is specifically determined according to the position where the actual robot needs anti-collision; the position where the first elastic member 2 is connected to the collision structure 01 can also be the rear end, front end, left end, right end, etc., which is specifically determined in combination with the connection relationship between the collision structure 01 and the robot body 1.

[0055] For example, if the collision structure 01 is provided at the front end of the robot body 1, the first elastic member 2 is connected between the rear end of the collision structure 01 and the front end of the robot body 1, and the main part that needs anti-collision is the front end of the body;

[0056] If the collision structure 01 is provided at the rear end of the robot main body 1, the first elastic member 2 is connected between the front end of the collision structure 01 and the rear end of the robot main body 1, and the main part to be protected against collision is the rear end of the main body.

[0057] Taking the first elastic member 2 connected between the rear end of the collision structure 01 and the front end of the robot main body 1 as an example, when the front end of the collision structure 01 is collided by an obstacle, the collision structure 01 moves backward and rotates relative to the robot main body 1 under the cooperation of the through hole 411 and the column 3, so that the first elastic member 2 is compressed to provide a buffering force. In this case, when the collision structure 01 is impacted, the first elastic member 2 forms a buffering effect on the collision structure 01 that is impacted by the obstacle and rotates to resist the impact force, so as to prevent the impact force generated by the collision from being directly transmitted to the robot main body 1, so as to effectively protect the robot main body 1 and avoid the problem of component damage to the robot main body 1 due to impact.

[0058] Based on the above embodiment, the through hole 411 is arranged so that the column 3 can be displaced relative to the collision structure 01 in the through hole 411 in a first direction, and the first direction is the front-rear direction of the collision structure 01.

[0059] Please refer to Figure 1 、 Figure 4 , the column 3 passes through the through hole 411, and there is a gap between the through hole 411 and the column 3, so that the column 3 can be displaced in the front-rear direction of the collision structure 01. The front-rear direction is as shown by the dotted arrow in Figure 4 . When a collision occurs, the through hole 411 enables the column 3 to be displaced relative to the collision structure 01 in the through hole 411 in a first direction, that is, the collision structure 01 and the column 3 undergo relative displacement. Specifically, the through hole 411 of the collision structure 01 is displaced relative to the column 3, so that the collision structure 01 is displaced and the first elastic member 2 is compressed to provide a buffering effect to resist the impact force generated during the collision.

[0060] Based on any of the above embodiments, the through hole 411 is a rectangular hole;

[0061] Or, the through hole 411 is an oval hole;

[0062] Or, the through hole 411 is a rounded rectangular hole with arcs at both ends.

[0063] Please refer to Figure 1 、 Figure 4 , when the gap between the through hole 411 and the column 3 is satisfied to provide an activity space for the collision structure 01, the column 3 is connected to the robot main body 1.

[0064] The through hole 411 can be a rectangular hole. The cylinder 3 passes through the rectangular hole. When a collision occurs, the rectangular hole can shift relative to the cylinder 3.

[0065] The through hole 411 can be an oval hole. The cylinder 3 passes through the oval hole. When a collision occurs, the oval hole can shift relative to the cylinder 3.

[0066] The through hole 411 can be a rounded rectangular hole with arcs at both ends, such as a waist-shaped hole. The cylinder 3 passes through the waist-shaped hole. When a collision occurs, the oval hole can shift relative to the cylinder 3.

[0067] For the specific forms of the above three hole positions, the structure corresponding to the cylinder 3 can be a cylinder. The collision structure 01 can be rotated through the cooperation of the cylinder 3 and the through hole 411 to compress the first elastic member 2.

[0068] Taking a specific embodiment as an example, such as Figure 6 shown, the cylinder 3 can be a bolt. The bolt is fixed on the main body 1 and extends into the through hole 411. It can be connected to the main body 1 by using the thread of the bolt. The structure is simple, the cost is low, and the use is simple and convenient.

[0069] Taking a specific embodiment as an example, the through hole 411 is an oval through hole. The long axis direction of the ellipse is along the front-rear direction of the advancement of the robot main body 1, so that the collision structure 01 can move in the front-rear direction of the robot to compress the first elastic member 2. Please refer to Figure 4 Specifically, the two positions in the long axis direction of the ellipse correspond to the two limit positions of the movement of the collision structure 01. Figure 4 When the rear end of the through hole 411 in cooperates with the cylinder 3, there is no obstacle at this time, and the robot moves forward normally; when encountering an obstacle, the obstacle collides with the front end of the collision structure 01, so that the cooperation point of the cylinder 3 and the through hole 411 moves from Figure 4 the rear end in to the front end, the collision structure 01 rotates, and the first elastic member 2 is compressed to provide a buffering force.

[0070] Based on any of the above embodiments, ribs 6 are provided on both side portions of the rear end of the collision structure 01. The ribs 6 protrude from the rear end face of the collision structure 01 and are used to contact the front wheels of the main body 1 when the collision structure 01 rotates to the limit position.

[0071] Please refer to Figure 1 、 Figure 4 Taking the collision structure 01 provided at the front end of the robot main body 1 as an example, ribs 6 are provided on the rear end of the collision structure 01. The ribs 6 protrude from the rear end face of the collision structure 01. When the front end of the collision structure 01 contacts an obstacle and rotates to the limit position, the ribs 6 move in the direction close to the front wheels of the robot main body 1. The movement here can make the ribs 6 move to contact the front wheels.

[0072] On the one hand, the provision of the rib 6 strengthens the strength of the collision structure 01 itself. On the other hand, when the collision structure 01 rotates to the limit position and contacts the front wheel of the robot body 1, the rib 6 can contact the wheel to prevent the front wheel from rotating and block the continuous rotation of the collision structure 01, avoiding damage to the collision structure 01 and preventing the robot body 1 from moving forward during a collision, thus ensuring the operation reliability of the robot during a collision.

[0073] Optionally, the height of the multiple ribs 6 protruding from the rear end face of the collision structure 01 is not limited. They can be kept consistent or partially inconsistent, and can be flexibly set according to the actual situation.

[0074] Based on any of the above embodiments, the collision structure 01 further includes:

[0075] A collision plate 5, the front end of which is used to contact an obstacle;

[0076] A base 4, provided at the rear end of the collision plate 5 and having a through hole 411. The collision plate 5 and the base 4 are connected by a plurality of second elastic members 7.

[0077] Please refer to Figure 1 、 Figure 4 , the collision structure 01 specifically includes a collision plate 5 and a base 4. The front end of the collision plate 5 is used to contact an obstacle. The rear end of the collision plate 5 is provided with a base 4. The base 4 is rotatably connected to the column 3 of the robot body 1, and the collision plate 5 is elastically connected to the base 4 through the second elastic members 7.

[0078] The collision plate 5 and the base 4 are connected by a plurality of second elastic members 7. On the premise of satisfying the connection between the collision plate 5 and the base 4, the effective buffering and anti-collision during a collision are realized through the provision of the second elastic members 7, ensuring reliable protection for the robot body 1.

[0079] Optionally, the second elastic members 7 are provided between the front end of the base 4 and the rear end of the collision plate 5 to realize effective buffering and anti-collision during a collision by compressing the second elastic members 7.

[0080] Optionally, the second elastic members 7 are provided between the inside of the base 4 and the rear end of the collision plate 5 to realize effective buffering and anti-collision during a collision by compressing the second elastic members 7.

[0081] Based on any of the above embodiments, the base 4 includes a rod portion 42 and a connecting portion 41 connected to the rod portion 42. The connecting portion 41 is provided with a through hole 411, and a first elastic member 2 is provided on the connecting portion 41.

[0082] Please refer to Figure 1 、 Figure 2, the base 4 includes a rod portion 42 and a connecting portion 41 connected to the rod portion 42. A through hole 411 for receiving the cylinder 3 is provided on the connecting portion 41, and the rod portion 42 is connected to the collision plate 5.

[0083] A first elastic member 2 is provided on the connecting portion 41. The first elastic member 2 is connected between the connecting portion 41 and the robot body 1 to provide a buffering effect during a collision.

[0084] In this embodiment, the specific structural form of the connecting portion 41 is not limited, nor is the specific size. It can be flexibly set according to the actual installation requirements and operating conditions.

[0085] Optionally, to strengthen the strength of the collision structure 01, ribs 6 can also be provided on the connecting portion 41.

[0086] Based on any of the above embodiments, at least two first elastic members 2 are provided. In the second direction, at least two first elastic members 2 are located on both sides of the through hole 411. The second direction is the left - right direction of the collision structure 01.

[0087] Please refer to Figure 4 , at least two first elastic members 2 are provided. In the second direction, at least two first elastic members 2 are located on both sides of the through hole 411. Here, the second direction is specifically the left - right direction of the collision structure 01, that is Figure 4 the direction indicated by the solid - line arrow.

[0088] In this embodiment, at least two first elastic members 2 can be symmetrically arranged on both sides of the through hole 411, or different numbers of first elastic members 2 can be arranged on both sides of the through hole 411 in the second direction according to the actual situation.

[0089] Taking the case where two first elastic members 2 are provided as an example, please refer to Figure 1 、 Figure 4 , the two first elastic members 2 are arranged on both sides of the through hole 411. During a collision, the first elastic members 2 are compressed to provide a buffering force when the collision structure 01 rotates, effectively protecting the robot body 1 from collisions.

[0090] Based on any of the above embodiments, a positioning post 8 for connecting the first elastic member 2 and the robot body 1 is provided at the rear end of the base 4. There is a gap between the positioning post 8 and the rear end of the base 4. Please refer to Figure 3 、 Figure 4 , the first elastic member 2 is arranged between the rear end of the collision structure 01 and the robot body 1. The first elastic member 2 provides a buffering force during a collision, reducing the collision impact on the robot body 1 and ensuring the reliability of the robot body 1.

[0091] At the rear end of the base 4, there is a positioning post 8 connected to the robot main body 1, and the axial direction of the positioning post 8 is consistent with the advancing direction of the robot main body 1.

[0092] Taking a specific embodiment as an example, the first elastic member 2 is specifically a spring, and a spring is sleeved on the positioning post 8. One end of the first elastic member 2 is connected to the rear end of the connecting portion of the base 4, and the other end is connected to or abuts against the front end of the robot main body 1. It should be noted that if the other end of the first elastic member 2 abuts against the front end of the robot main body 1, at this time, the positioning post 8 can limit the first elastic member 2 to prevent the first elastic member 2 from falling off the positioning post 8 and affecting the connection between the collision structure 01 and the robot main body 1.

[0093] Taking another specific embodiment as an example, the first elastic member 2 is specifically a spring. One end of the first elastic member 2 is connected to the positioning post 8, and the other end is connected to the rear end of the connecting portion of the base 4. During a collision, the first elastic member 2 can also be compressed to achieve a buffering effect.

[0094] There is a gap between the positioning post 8 and the rear end of the base 4, providing a working space for the compression deformation of the first elastic member 2 to achieve effective buffering.

[0095] Based on any of the above embodiments, the base 4 is provided with a mounting hole 421, and at least part of the second elastic member 7 is located in the mounting hole 421;

[0096] One end of the second elastic member 7 is connected to the rear end face of the collision plate 5, and the other end of the second elastic member 7 is connected to the bottom wall surface of the mounting hole 421.

[0097] Please refer to Figure 2 、 Figure 4 , the base 4 is provided with a mounting hole 421, the second elastic member 7 is arranged in the mounting hole 421, and the second elastic member 7 provides a buffering force to prevent the collision structure 01 from being damaged, providing an effective buffering force for the anti-collision of the robot main body 1 and ensuring effective anti-collision of the robot main body 1.

[0098] At least part of the second elastic member 7 is located in the mounting hole 421, and the mounting hole 421 can be set slightly larger to facilitate the installation and disassembly of the second elastic member 7.

[0099] At least part of the second elastic member 7 is located in the mounting hole 421, that is, the second elastic member 7 can entirely extend into the mounting hole 421 and be connected to the rear end face of the collision plate 5; or part of it can extend into the mounting hole 421 and part of it can protrude from the mounting hole 421 and be connected to the rear end face of the collision plate 5.

[0100] Specifically, one end of the second elastic member 7 is connected to the rear end face of the collision plate 5, and the rear direction in the rear end face of the collision plate 5 is the front-rear direction of the collision structure 01 ( Figure 4It is consistent with the rear in the direction indicated by the dashed arrow in the figure), the other end of the second elastic member 7 is connected to the bottom wall surface of the mounting hole 421. During a collision, the second elastic member 7 is compressed to provide a buffering force, which can prevent the collision force from being directly transmitted to the robot main body 1, avoid damaging the main body or the sensing component, etc., so as to achieve effective anti-collision.

[0101] Based on any of the above embodiments, a detection element for detecting a collision is provided on the collision structure 01, and the detection element is used for electrically connecting to a control element provided on the robot main body 1.

[0102] During a collision, since the position of the obstacle is unknown in advance, the collision structure 01 will be impacted at different positions. For the convenience of the back-end personnel to monitor the collision information or for the operation requirements such as facilitating the determination of the position of the obstacle, a detection element for detecting a collision is provided on the collision structure 01.

[0103] In a specific embodiment, one detection element can be provided to determine that a collision has occurred and send a signal to the control element, and the control element receives the information of the detection element to determine that a collision has occurred.

[0104] In another embodiment, two or more detection elements are provided to determine the position where the collision occurs. The detection elements can send the signals generated when two or more detection elements collide to the control element provided on the robot main body 1, and the control element can perform comparative analysis to determine the position of the collision.

[0105] For example, a plurality of pressure sensors can be provided at different positions of the collision structure 01, and the main collision position can be determined by comparing the values of the pressure sensors.

[0106] For example, an inductive proximity switch or a magnetic Hall chip 9 can be provided on one of the collision plate 5 and the base 4, and a metal sheet or a magnetic sheet can be correspondingly provided on the other. During a collision, when the collision plate 5 and the base 4 approach each other, a signal is generated and sent to the control element, so that the control element can analyze and determine the position of the collision.

[0107] Based on any of the above embodiments, the number of detection elements is at least two, and several detection elements are arranged in sequence along the length direction of the collision plate 5, and at least one detection element is arranged on each side of the longitudinal symmetry plane of the collision structure 01.

[0108] At least two detection elements are arranged in sequence along the length direction of the collision plate 5. Each detection element corresponds to a collision position. The information of the detection elements collected by the control element on the robot main body 1 is used to determine the position of the collision. Each detection element can be numbered and corresponding to different collision positions of the collision structure 01, so that the control element can quickly analyze and obtain the position of the collision.

[0109] At least one detection element is provided on each side of the symmetry plane of the collision structure 01, such as Figure 4 As shown, taking the longitudinal plane in the middle of the collision structure 01 as the symmetry plane, at least one detection element is provided on both sides of the symmetry plane to determine whether the position of the collision is on the left side and / or the right side relative to the symmetry plane.

[0110] Based on any of the above embodiments, the detection element includes a Hall chip 9 and a permanent magnet disposed opposite to the Hall chip 9. One of the collision plate 5 and the base 4 is provided with a permanent magnet, and the Hall chip 9 is provided at the corresponding position of the other.

[0111] The detection element includes a Hall chip 9, and the permanent magnet is disposed opposite to the Hall chip 9. When the permanent magnet approaches the Hall chip 9, the Hall chip 9 senses the magnetic field, thereby generating a collision signal and sending it back to the control element to determine the position of the collision.

[0112] In one implementation, the detection elements are provided on the left and right sides of the collision structure 01, and the left and right sides here correspond to the left and right sides of the traveling direction of the robot main body 1. A permanent magnet is provided on the collision plate 5, and the Hall chip 9 is provided at the corresponding position on the base 4. When the collision plate 5 is compressed and moves towards the base 4, the Hall chip 9 outputs a collision signal. There is one detection element on each of the left and right sides, so the control element can identify whether the position of the collision is on the left side or the right side or both sides based on the collision signal.

[0113] The present application provides a robot with an anti-collision mechanism, and the robot includes:

[0114] An anti-collision mechanism, which is the anti-collision mechanism of any of the above embodiments;

[0115] A robot main body 1, and the anti-collision mechanism is installed on the robot main body 1.

[0116] The anti-collision mechanism is installed on the robot main body 1. When the robot is collided, the anti-collision mechanism first contacts the obstacle to protect the robot main body 1 and ensure the normal use of the robot.

[0117] Based on the above embodiments, the robot further includes a mowing assembly 10 provided at the lower end of the robot main body 1 for performing cutting operations. When the robot main body 1 travels, the mowing assembly moves to perform cutting operations.

[0118] Based on the above embodiments, a rotating block is provided on either the inner wall of the through hole 411 or the column 3, and a spiral groove is provided on the other. The spiral groove and the rotating block cooperate to limit the rotation angle of the collision structure 01.

[0119] In this embodiment, in order to limit the rotation angle of the collision structure 01 so that its maximum rotation range will not contact the front wheel, a spiral groove and a rotating block that can rotate spirally in the spiral groove are provided, and the angle of the spiral groove corresponds to the rotation angle of the collision structure 01.

[0120] A rotating block is provided on either the inner wall of the through hole 411 or the column 3, and a spiral groove is provided on the other. Specifically, how to set it can be combined with the actual installation requirements, as long as it is based on simple processing and can achieve the effect.

[0121] This application also provides a robot including a robot main body 1 and an anti-collision mechanism. The anti-collision mechanism includes a collision structure 01 and a first elastic member 2.

[0122] The front end of the collision structure 01 is used to contact an obstacle, and the rear end is rotatably connected to the robot main body 1. When encountering an obstacle, the collision structure 01 rotates under the impact of the obstacle, and the first elastic member 2 connected between the collision structure 01 and the robot main body 1 can provide a buffering effect on the impacted collision structure 01 to resist the large impact force generated during the collision, realizing effective anti-collision for the robot.

[0123] On the basis of the above embodiment, the collision structure 01 includes:

[0124] A collision plate 5, the front end of which is used to contact an obstacle;

[0125] A base 4 is provided at the rear end of the collision plate 5. The collision plate 5 and the base 4 are connected by a plurality of second elastic members 7, and the base 4 is rotatably connected to the robot main body 1.

[0126] Please refer to Figure 1 、 Figure 4 , the collision structure 01 specifically includes a collision plate 5 and a base 4. When encountering an obstacle, the collision plate 5 directly contacts the obstacle and the impact force is transmitted to the base 4, causing the entire collision structure 01 to rotate relative to the robot main body 1 to protect the robot main body 1; when the collision plate 5 is impacted, the second elastic member 7 between the collision plate 5 and the base 4 can achieve effective buffering during the collision, preventing the collision structure 01 from breaking when receiving the impact force, and ensuring reliable and effective anti-collision for the robot main body 1.

[0127] On the basis of any of the above embodiments, the base 4 includes a rod portion 42 and a connecting portion 41 connected to the rod portion 42. The connecting portion 41 is rotatably connected to the robot main body 1, and the first elastic member 2 is provided on the connecting portion 41.

[0128] Please refer to Figure 1 、 Figure 2, the base 4 includes a rod portion 42 and a connecting portion 41 connected to the rod portion 42. The connecting portion 41 is rotatably connected to the robot body 1. Taking a specific embodiment as an example, the connecting portion 41 is connected between the middle position of the rod portion 42 and the middle position of the robot body 1. When a collision occurs, the collision structure 01 rotates relative to the robot body 1, the rod portion 42 rotates towards the direction close to the front wheels, and the first elastic member 2 on the connecting portion 41 provides buffering when the collision structure 01 rotates, ensuring reliable and effective protection for the robot body 1.

[0129] Based on any of the above embodiments, at least two first elastic members 2 are provided. In the second direction, at least two first elastic members 2 are located on both sides of the rotational connection position between the collision structure 01 and the main body 1. The second direction is the left - right direction of the collision structure 01.

[0130] Please refer to Figure 4 , at least two first elastic members 2 are provided. In the second direction, at least two first elastic members 2 are located on both sides of the rotational connection position between the collision structure 01 and the robot body 1. Here, the second direction is specifically the left - right direction of the collision structure 01, that is Figure 4 the direction indicated by the solid - line arrow.

[0131] In this embodiment, in a specific implementation manner, in the second direction, at least two first elastic members 2 can be symmetrically arranged on both sides of the rotational connection position between the collision structure 01 and the robot body 1; in another specific implementation manner, in the second direction, different numbers of first elastic members 2 are arranged on both sides of the rotational connection position between the collision structure 01 and the robot body 1.

[0132] When a collision occurs, the first elastic member 2 is compressed to provide a buffering effect when the collision structure 01 rotates under impact, achieving effective anti - collision for the robot body 1 and protecting the collision structure 01 to avoid the situation where the collision structure 01 breaks under impact.

[0133] In this specification, each embodiment is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other.

[0134] The above has introduced in detail an anti - collision mechanism and a robot provided by this application. Specific examples are used in this article to elaborate on the principle and implementation manner of this application. The description of the above embodiments is only used to help understand the method and its core idea of this application. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of this application, several improvements and modifications can be made to this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. An anti-collision mechanism, characterized in that: include: A collision structure (01), the collision structure (01) comprising a through hole (411), the through hole (411) being arranged to receive a column (3) for attaching the collision structure (01) to a robot body (1), so that the collision structure (01) can rotate around the column (3); A first elastic member (2), one end of the first elastic member (2) being connected to the collision structure (01), and the other end being used to be connected to the robot body (1) so as to form a buffering effect on the collision structure (01) that is rotating.

2. The anti-collision mechanism according to claim 1, characterized in that: The through hole (411) is arranged to enable the column (3) to be displaced relative to the collision structure (01) along a first direction within the through hole (411), wherein the first direction is a front-rear direction of the collision structure (01).

3. The anti-collision mechanism according to claim 2, characterized in that: The through hole (411) is a rectangular hole; Or, the through hole (411) is an elliptical hole; Alternatively, the through hole (411) is a rounded rectangular hole with arcs at both ends.

4. The anti-collision mechanism according to claim 1, characterized in that: Ribs (6) are provided on both sides of the rear end of the collision structure (01); the ribs (6) protrude from the rear end surface of the collision structure (01) and are used to contact the front wheels of the robot body (1) when the collision structure (01) rotates to an extreme position.

5. The anti-collision mechanism according to any one of claims 1 to 4, characterized in that: The collision structure (01) further comprises: A collision plate (5), the front end of which is used to contact the obstacle; The base (4) is arranged at the rear end of the collision plate (5) and is provided with the through hole (411); the collision plate (5) and the base (4) are connected via a plurality of second elastic members (7).

6. The anti-collision mechanism according to claim 5, characterized in that: The base (4) comprises a rod portion (42) and a connecting portion (41) connected to the rod portion (42), the connecting portion (41) being provided with the through hole (411), and the connecting portion (41) being provided with the first elastic member (2).

7. The anti-collision mechanism according to claim 1, characterized in that: At least two of the first elastic members (2) are provided, and in the second direction, at least two of the first elastic members (2) are located on both sides of the through hole (411), and the second direction is the left-right direction of the collision structure (01).

8. The anti-collision mechanism according to claim 5, characterized in that: The base (4) is provided with a mounting hole (421), and at least a portion of the second elastic member (7) is located in the mounting hole (421); One end of the second elastic member (7) is connected to the rear end surface of the collision plate (5), and the other end of the second elastic member (7) is connected to the bottom wall surface of the mounting hole (421).

9. The anti-collision mechanism according to claim 8, characterized in that: The collision structure (01) is provided with a detection element for detecting collision, and the detection element is used to electrically connect to a control element provided on the robot body (1).

10. The anti-collision mechanism according to claim 9, characterized in that: The number of the detection elements is at least two, and a plurality of the detection elements are arranged in sequence along the length direction of the collision plate (5), and at least one detection element is arranged on each side of the longitudinal symmetry plane of the collision structure (01).

11. The anti-collision mechanism according to claim 10, characterized in that: The detection element comprises a Hall chip (9) and a permanent magnet arranged opposite to the Hall chip (9); one of the collision plate (5) and the base (4) is provided with the permanent magnet, and a corresponding position of the other is provided with the Hall chip (9).

12. A robot, characterized in that: It comprises a robot body (1) and an anti-collision mechanism according to any one of claims 1 to 11, wherein the anti-collision mechanism is installed on the robot body (1).

13. The robot according to claim 12, characterized in that: It also comprises a mowing component (10) arranged at the lower end of the robot body (1) and used for performing cutting operations.

14. A robot, characterized in that: It comprises a robot body (1) and an anti-collision mechanism, wherein the anti-collision mechanism comprises: A collision structure (01), wherein the front end of the collision structure (01) is used to contact an obstacle, and the rear end is rotationally connected to the robot body (1); A first elastic member (2), one end of the first elastic member (2) being connected to the collision structure (01) and the other end of the first elastic member (2) being connected to the robot body (1), so as to provide a buffering effect on the collision structure (01) that is impacted by an obstacle and rotates.

15. The robot according to claim 14, characterized in that: The collision structure (01) comprises: A collision plate (5), the front end of which is used to contact the obstacle; The base (4) is arranged at the rear end of the collision plate (5); the collision plate (5) and the base (4) are connected via a plurality of second elastic members (7); and the base (4) is rotatably connected to the robot body (1).

16. The robot according to claim 15, characterized in that: The base (4) comprises a rod portion (42) and a connecting portion (41) connected to the rod portion (42); the connecting portion (41) is rotatably connected to the robot body (1); and the first elastic member (2) is provided on the connecting portion (41).

17. The robot according to any one of claims 14 to 16, characterized in that: At least two of the first elastic members (2) are provided, and in the second direction, at least two of the first elastic members (2) are located on both sides of the rotational connection position between the collision structure (01) and the main body (1), and the second direction is the left-right direction of the collision structure (01).

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