Collision sensing assembly and intelligent walking equipment
Through the collision sensing component designed by connecting rod and return spring, combined with photoinductor and encoder, the problem of the micro switches that are easily damaged when the intelligent mobile device collides with obstacles is solved, and the equipment is high reliability and durability is achieved.
Patent Information
- Application Number
- CN202422406938.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-30
- Publication Date
- 2025-07-18
- Estimated Expiration
- 2034-09-30
AI Technical Summary
When existing intelligent mobile devices collide with obstacles, the micro switch is easily damaged, resulting in mechanical wear and failure of the equipment, and lack of effective collision detection and feedback mechanisms.
The connecting rod and return spring design are adopted. The collision plate first contacts the obstacle, and the guide plate indirectly controls the micro switch to avoid direct collision of the mobile device. It combines the photoinductor and encoder to provide multiple line of defense protection.
It effectively avoids damage to micro switches, reduces mechanical wear, improves the reliability and durability of the collision-proof system, and enhances the safety of the equipment in complex environments.
Smart Images
Figure CN223116314U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of anti-collision for mobile devices, and in particular to a collision sensing component and an intelligent walking device. Background Art
[0002] With the increasingly widespread application of intelligent mobile devices in fields such as household appliances, industry, and logistics, the safety and automation of the devices have become key factors in the design. During the process of an intelligent mobile device reciprocating along a straight line, the device often faces complex scenarios such as accidental collisions and obstacles. If the device does not have an effective collision detection and feedback mechanism, it may cause damage to the device or inconvenient operation. In the prior art, collision sensing usually relies on a single touch switch. When the touch switch collides with an obstacle, the activation of the touch switch causes the intelligent mobile device to perform the next action. However, long-term repeated impacts may cause mechanical wear or even failure of the touch switch, and when the touch switch directly collides with an obstacle during the high-speed operation of the mobile device, it may cause damage to the device structure or the switch. Summary of the Utility Model
[0003] In order to avoid the direct collision of the switch with an obstacle, reduce the wear and fatigue damage of the mechanical components of the switch and the intelligent mobile device, reduce the failures caused by the damage of the switch or components, and overall improve the reliability and durability of the anti-collision system, this application provides a collision sensing component and an intelligent walking device.
[0004] A collision sensing component provided by this application adopts the following technical solution:
[0005] A collision sensing component includes a linkage rod and a control switch member. Bumper plates are installed at both ends of the linkage rod. The linkage rod is slidably arranged on the mobile device. The control switch member is installed on the mobile device. A return spring and a guide plate are connected to the linkage rod. One end of the return spring is connected to the mobile device;
[0006] When the bumper plate abuts against an obstacle and the mobile device continues to move towards the obstacle for a set distance, the guide plate controls the control switch member to turn on, causing the mobile device to stop moving towards the obstacle;
[0007] When the bumper plate is released from the state of abutting against the obstacle, the return spring drives the linkage rod to reset, causing the guide plate to control the control switch member to disconnect.
[0008] By adopting the above technical solution, when the mobile device approaches an obstacle, the bumper plate will first collide with the obstacle. Through the design of the linkage rod and the guide plate, the micro switch is indirectly controlled, rather than directly colliding the mobile device with the micro switch. This improvement effectively avoids damage to the micro switch during the collision process;
[0009] The reset spring is not only responsible for resetting the linkage rod and the striker plate, but also has a buffering effect. When the moving device contacts an obstacle, the reset spring can buffer the impact force to prevent the device from being damaged due to a high-speed direct impact on the obstacle.
[0010] Since the microswitch and the intelligent moving device are prevented from directly colliding with the obstacle, the wear and fatigue damage of the mechanical components of the microswitch and the intelligent moving device are reduced, and the faults caused by the damage of the microswitch or components are reduced, thereby improving the reliability and durability of the anti-collision system as a whole.
[0011] Optionally, the control switch member includes two microswitches, the number of the guide plates is two, the two guide plates are arranged along the length direction of the linkage rod, and the microswitches correspond to the guide plates one by one;
[0012] When the striker plate at one end of the linkage rod abuts against an obstacle and the moving device continues to move forward in the direction of the obstacle to a set distance, one of the guide plates pushes the drive rod of the corresponding microswitch to rotate and turn on the microswitch, and the other guide plate moves away from the corresponding microswitch;
[0013] When the striker plate releases the abutting state with the obstacle, both of the microswitches are in the off state.
[0014] By adopting the above technical solution, two guide plates and two microswitches can achieve two-way induction, ensuring that no matter which end of the linkage rod the striker plate collides with an obstacle, the system can react in time. This improves the sensitivity and coverage of the induction and is suitable for environments that require long-term reciprocating movement.
[0015] Optionally, the linkage rod includes a connecting plate, both of the guide plates are arranged on the connecting plate, both ends of the connecting plate are connected with a first connecting rod, the ends of the two first connecting rods far away from the connecting plate are both connected with a connecting sleeve, the ends of the two connecting sleeves far away from the first connecting rods are both connected with a second connecting rod, the ends of the two second connecting rods far away from the connecting sleeves are respectively connected with a striker plate, the number of the reset springs is two, the reset springs correspond to the connecting sleeves one by one, the reset springs are sleeved on the corresponding connecting sleeves, and one end of the reset spring is fixed on the connecting sleeve and the other end is fixed on the moving device.
[0016] By adopting the above technical solution, the combined design of the connecting plate, the first connecting rod, the second connecting rod and the return spring ensures that the striking plate can be reset smoothly after collision, and after the contact state with the obstacle is released, the device can automatically resume its normal working state. Moreover, the striking plate, the first connecting rod, the second connecting rod and the return spring at one end of the connecting plate can be removed separately, which is convenient for maintenance and replacement.
[0017] Optionally, an adjusting seat is threadedly connected to the connecting sleeve. A fixing plate is penetrated by the second connecting rod. A guiding seat is arranged on the fixing plate. The second connecting rod passes through the guiding seat. The fixing plate is used for being fixed to the moving device. One end of the return spring is arranged on the adjusting seat, and the other end is arranged on the guiding seat.
[0018] By adopting the above technical solution, the design of the adjusting seat and the guiding seat enables the elastic force of the return spring to be adjustable, which provides greater flexibility for the anti-collision system and can adjust the induction sensitivity and the reset speed according to actual needs.
[0019] Optionally, a fixing seat is arranged on the striking plate, and the fixing seat is connected to the second connecting rod.
[0020] By adopting the above technical solution, the connection between the striking plate and the second connecting rod is strengthened.
[0021] Optionally, the two guiding plates are respectively located at one end of the connecting plate. One guiding plate is located at the top of the connecting plate, and the other guiding plate is located at the bottom of the connecting plate.
[0022] By adopting the above technical solution, the two guiding plates and the two microswitches are staggered up and down, ensuring that the guiding plate can only control the corresponding microswitch, avoiding the situation that the guiding plate interferes with the other microswitch, and guaranteeing the stability of the anti-collision system.
[0023] Optionally, the second connecting rod is a prismatic rod. One end of the second connecting rod is inserted into the connecting sleeve, and the other end is inserted into the fixing seat.
[0024] By adopting the above technical solution, the stability of the second connecting rod in the connecting sleeve and the fixing seat is guaranteed, avoiding the situation that the loosening of the second connecting rod drives the striking plate to deflect.
[0025] Optionally, a fixing frame is further included. The fixing frame is used for being installed on the moving device. The fixing frame is connected with a mounting plate. The mounting plate is connected with an upper mounting block and a lower mounting block. The two microswitches are respectively installed on the upper mounting block and the lower mounting block. The lower mounting block corresponds to the guiding plate located at the bottom of the connecting plate, and the upper mounting block corresponds to the guiding plate located at the top of the connecting plate.
[0026] The present application also provides an intelligent walking device, which adopts the following technical solutions:
[0027] An intelligent walking device includes the above-mentioned collision sensing components, and at least two of the collision sensing components are provided. The installation heights of adjacent collision sensing components are different, and a number of photoelectric sensors are also included on both sides.
[0028] By adopting the above technical solutions, the intelligent walking device uses the photoelectric sensors as the first line of defense to prevent collisions with obstacles. The photoelectric sensors are responsible for detecting obstacles ahead in advance during the movement of the intelligent walking device, especially able to detect obvious objects. When the distance to an obstacle is too close, the sensor will send a signal to control the device to perform the next action, avoiding using the anti-collision sensing components for collision every time.
[0029] The anti-collision sensing components provide the second line of defense. When the photoelectric sensors are damaged or unable to detect obstacles, especially when encountering transparent or obstacles difficult to identify by the photoelectric sensors (such as glass), when the intelligent walking device makes direct physical contact with the obstacle, through the coordinated work of the linkage rod and the micro switch, the intelligent walking device is triggered to perform the next action, and the setting of multiple anti-collision sensing components can more accurately identify obstacles and improve the stability of the anti-collision system.
[0030] Optionally, it includes a driving motor, and the driving motor is used to drive the intelligent walking device to move along the length direction of the linkage rod. The driving motor is internally provided with an encoder.
[0031] By adopting the above technical solutions, a predetermined value will be designed in advance in the encoder. The encoder serves as the third line of defense. When the first two lines of defense (photoelectric sensors and anti-collision sensing components) fail or the micro switch is damaged, the device will continue to operate according to the preset distance, that is, the wheels will continue to rotate in the same direction. When the encoder measures and reaches the set value, the device will automatically stop and perform the next action.
[0032] The addition of the encoder provides the last protection measure for the device to prevent further damage to the device in the case of the failure of the anti-collision sensing components or the micro switch. Even if the anti-collision function fails, the encoder can still ensure that the device stops when it reaches the preset value by measuring the moving distance, guaranteeing the safe operation of the device. This greatly improves the error tolerance rate of the walking device and enhances the safety of the device in various complex situations.
[0033] In summary, the present application includes at least one of the following beneficial technical effects:
[0034] 1. When the mobile device approaches an obstacle, the bumper will collide with the obstacle first. Through the design of the linkage rod and the guide plate, the microswitch is indirectly controlled, rather than directly colliding the mobile device with the microswitch. This improvement effectively avoids damage to the microswitch during the collision process;
[0035] 2. The return spring is not only responsible for resetting the linkage rod and the bumper, but also has a buffering effect. When the mobile device contacts the obstacle, the return spring can buffer the impact force and prevent the device from being damaged due to a direct high-speed impact on the obstacle;
[0036] 3. It avoids the direct collision of the microswitch and the intelligent mobile device with the obstacle, reduces the wear and fatigue damage of the mechanical components of the microswitch and the intelligent mobile device, reduces the failures caused by the damage of the microswitch or components, and overall improves the reliability and durability of the anti-collision system;
[0037] 4. The photoelectric inductor provides the first line of defense to avoid collisions by sensing obstacles in advance. The anti-collision sensing component serves as the second line of defense to protect the device from direct collision damage when the photoelectric inductor fails or is unable to detect some obstacles; the encoder serves as the third line of defense to ensure that the device can stop running through distance control in the case of the failure of the anti-collision sensing component, forming a multi-layer anti-collision protection scheme, and overall improving the reliability and durability of the anti-collision system. Description of the Drawings
[0038] Figure 1 is the overall structural schematic diagram of the embodiment of the present application.
[0039] Figure 2 is the structural schematic diagram of the embodiment of the present application for embodying the control switch component.
[0040] Figure 3 is Figure 1 the enlarged schematic diagram of part A in
[0041] Figure 4 is the structural schematic diagram of the embodiment of the present application for embodying the photoelectric inductor and the collision sensing component.
[0042] Description of the Reference Numerals: 1. Linkage rod; 11. Connecting plate; 12. Guide plate; 13. First connecting rod; 14. Connecting sleeve; 15. Second connecting rod; 16. Fixed seat; 17. Fixed plate; 18. Guide seat; 19. Adjusting seat; 110. Return spring; 2. Control switch component; 21. Fixed frame; 22. Mounting plate; 23. Upper mounting block; 24. Lower mounting block; 25. Microswitch; 3. Bumper; 4. Front support member; 5. Middle support member; 6. Rear support member; 71. Transverse moving wheel; 72. Driving motor; 8. Photoelectric inductor. Detailed Embodiment
[0043] The following further describes the present application in detail with reference to the accompanying Figures 1-4 drawings.
[0044] An embodiment of the present application discloses a collision sensing assembly.
[0045] As Figure 1 Figure 2 shown Figure 3 in FIGS. and, the collision sensing assembly includes a linkage rod 1, a control switch member 2, and two bumper plates 3;
[0046] The linkage rod 1 includes a connection plate 11. At both ends of the connection plate 11, guide plates 12 are integrally formed. Each guide plate 12 is composed of a straight plate and inclined plates at both ends of the straight plate. One guide plate 12 is located at the top of the connection plate 11, and the other guide plate 12 is located at the bottom of the connection plate 11. At both ends of the connection plate 11, first connecting rods 13 are bolted. At the ends of the two first connecting rods 13 away from the connection plate 11, connection sleeves 14 are installed. At the ends of the two connection sleeves 14 away from the first connecting rods 13, second connecting rods 15 are connected. The two second connecting rods 15 are prismatic rods;
[0047] Both of the two bumper plates 3 are bolted with fixed seats 16. The fixed seats 16 correspond to the second connecting rods 15 one by one. The second connecting rods 15 are inserted into the connection sleeves 14 and the fixed seats 16 on the same side thereof and are in tight fit; A fixing plate 17 is penetrated through the second connecting rod 15. The fixing plate 17 is used for bolt connection with a mobile device. A guide seat 18 is bolted to the fixing plate 17. The second connecting rod 15 passes through the guide seat 18. The fixing plate 17 is used for fixing with the mobile device;
[0048] An adjusting seat 19 is threadedly connected to the connection sleeve 14. A return spring 110 is sleeved on the connection sleeve 14. One end of the return spring 110 is tightly sleeved on the adjusting seat 19, and the other end of the return spring 110 is tightly sleeved on the guide seat 18.
[0049] The control switch member 2 includes a fixing frame 21. The fixing frame 21 is used for bolt connection with a mobile device. An installation plate 22 is bolted to the fixing frame 21. At one end of the installation plate 22, an upper installation block 23 is integrally formed. At the other end of the installation plate 22, a lower installation block 24 is integrally formed. The upper installation block 23 is located at the top of the installation plate 22, and the lower installation block 24 is located at the bottom of the installation plate 22. The lower installation block 24 corresponds to the guide plate 12 at the bottom of the connection plate 11, and the upper installation block 23 corresponds to the guide plate 12 at the top of the connection plate 11. A micro switch 25 is bolted to the upper installation block 23. A micro switch 25 is also bolted to the lower installation block 24. The two micro switches 25 correspond to the guide plates 12 on the same side thereof;
[0050] In the embodiment of the present application, the driving rod of the micro switch 25 is a roller-type driving rod, and the roller-type driving rod keeps in contact with the inclined plate of the corresponding guide plate 12;
[0051] The initial states of the two reset springs 110 are the same;
[0052] When the bumper plate 3 at one end abuts against an obstacle and the moving device continues to move forward towards the obstacle for a set distance, the two first link rods 13, the two second link rods 15, and the two connecting sleeves 14 move relative to the moving device, such that the guide plate 12 on the same side as the bumper plate 3 pushes the driving rod of the corresponding microswitch 25 to rotate and turns on the microswitch 25 on the same side as the bumper plate 3, while the other guide plate 12 moves away from its corresponding microswitch 25. At this time, the reset spring 110 on the same side as the bumper plate 3 is in a stretched state.
[0053] When the bumper plate 3 is released from abutting against the obstacle, the two reset springs 110 cooperate with each other to keep both microswitches 25 in the off state during normal movement of the moving device, that is, the two reset springs 110 return to their initial states and keep the two bumper plates 3 relatively stationary with respect to the moving device.
[0054] When the moving device approaches an obstacle, the bumper plate 3 will hit the obstacle first. Through the design of the linkage rod 1 and the guide plate 12, the microswitch 25 is indirectly controlled, rather than directly colliding the moving device with the microswitch 25. This improvement effectively avoids damage to the microswitch 25 during the collision process;
[0055] The reset spring 110 is not only responsible for resetting the linkage rod 1 and the bumper plate 3, but also has a buffering effect. When the moving device contacts the obstacle, the reset spring 110 can buffer the impact force and prevent the device from being damaged due to a high-speed direct impact on the obstacle.
[0056] Since direct collisions between the microswitch 25 and the intelligent moving device and the obstacle are avoided, wear and fatigue damage of the mechanical components of the microswitch 25 and the intelligent moving device are reduced, and malfunctions caused by damage to the microswitch 25 or components are reduced, overall improving the reliability and durability of the anti-collision system.
[0057] It should be noted that in other embodiments, the control switch member 2 may be a single microswitch 25, and the two guide plates 12 are both installed on the top of the connecting plate 11. When the bumper plate 3 hits the obstacle, one guide plate 12 controls the microswitch 25 to turn on, and the other guide plate 12 moves away from the microswitch 25. When the bumper plate 3 is released from abutting against the obstacle, the inclined plates of the two guide plates 12 in opposite directions come into contact with the driving rod of the microswitch 25 together, but the microswitch 25 is in the off state.
[0058] In other embodiments, two microswitches 25 can also be controlled by a guiding plate 12. That is, when the striking plate 3 collides with an obstacle, the guiding plate 12 controls one microswitch 25 to turn on, and the guiding plate 12 moves away from the other microswitch 25. When the striking plate 3 releases the contact state with the obstacle, the inclined plates at both ends of the guiding plate 12 contact the driving rods of the two microswitches 25 respectively, but the two microswitches 25 are in the off state.
[0059] As Figure 4 , an intelligent walking device is further provided in an embodiment of the present application, including two collision sensing components of the embodiment of the present application, a front support member 4, a middle support member 5, and a rear support member 6. The front support member 4 and the rear support member 6 are both slidably connected to the middle support member 5. Transverse wheels 71 are installed at the bottoms of the front support member 4, the middle support member 5, and the rear support member 6. Each transverse wheel 71 is driven by an independent driving motor 72, and an encoder is built in each driving motor 72;
[0060] One collision sensing component is installed on the front support member 4, and the other collision sensing component is installed on the rear support member 6. The installation height of the collision sensing component on the front support member 4 is greater than the installation height of the collision sensing component on the rear support member 6.
[0061] The front support member 4 and the rear support member 6 both include a frame and a chassis. The fixing plate 17 is bolted to the side of the corresponding frame, and the fixing bracket 21 is bolted to the corresponding frame. The second connecting rod 15 extends out of the frame, that is, the distance between the two striking plates 3 of the same collision sensing component is greater than the width of the frame.
[0062] The photoelectric sensor 8 is installed on the striking plate 3. In other embodiments, the photoelectric sensor 8 can be installed on both sides of the frame.
[0063] It should be noted that the device capable of realizing transverse movement in the embodiment of the present application can also be other structures, such as a stair-climbing robot and a floor-sweeping robot. An encoder is provided in the corresponding driving motor 72 of the stair-climbing robot / floor-sweeping robot, and the collision sensing component and the photoelectric sensor 8 of the embodiment of the present application are installed on the transverse movement device to form the intelligent walking device of the present application.
[0064] The intelligent walking device uses the photoelectric sensor 8 as the first line of defense to prevent collisions with obstacles. The photoelectric sensor 8 is responsible for detecting obstacles ahead in advance during the movement of the intelligent walking device, especially for detecting obvious objects. When the distance from an obstacle is too close, the sensor will send a signal to control the device to perform the next action, avoiding using the anti-collision sensing component for collision every time;
[0065] The anti-collision induction component provides a second line of defense. When the photoelectric sensor 8 is damaged or fails to detect an obstacle, especially when encountering a transparent obstacle or an obstacle that is difficult for the photoelectric sensor 8 to identify (such as glass), and when the intelligent walking device makes direct physical contact with the obstacle, the intelligent walking device will trigger the next action through the coordinated work of the linkage rod 1 and the micro-switch 25;
[0066] A preset value is designed in advance in the encoder. As the third line of defense, when the first two lines of defense (the photoelectric sensor 8 and the anti-collision induction component) fail or the micro-switch 25 is damaged, the device will continue to operate according to the preset distance, that is, the wheels will continue to rotate in the same direction. When the encoder measures and reaches the set value, the device will automatically stop and execute the next action.
[0067] Therefore, the photoelectric sensor 8 provides the first line of defense to avoid collisions by sensing obstacles in advance. The anti-collision induction component serves as the second line of defense to protect the device from direct collision damage when the photoelectric sensor 8 fails or is unable to detect certain obstacles; the encoder serves as the third line of defense to ensure that the device can stop running through distance control in the case of the failure of the anti-collision induction component, forming a multiple anti-collision protection solution, which overall improves the reliability and durability of the anti-collision system.
[0068] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereby. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application should be covered within the protection scope of the present application.
Claims
1. A collision sensing component, characterized in that: It includes an interlocking rod member (1) and a control switch member (2). Bumper plates (3) are installed at both ends of the interlocking rod member (1). The interlocking rod member (1) is slidably arranged on a moving device. The control switch member (2) is installed on the moving device. A return spring (110) and a guide plate (12) are connected to the interlocking rod member (1). One end of the return spring (110) is connected to the moving device; When the bumper plate (3) abuts against an obstacle and the moving device continues to move forward in the direction of the obstacle to a set distance, the guide plate (12) controls the control switch member (2) to turn on, so that the moving device stops moving in the direction of the obstacle; When the bumper plate (3) releases the abutting state with the obstacle, the return spring (110) drives the interlocking rod member (1) to reset, so that the guide plate (12) controls the control switch member (2) to turn off.
2. The collision sensing component according to claim 1, wherein: The control switch member (2) includes two microswitches (25). The number of the guide plates (12) is two. The two guide plates (12) are arranged along the length direction of the interlocking rod member (1). The microswitches (25) correspond to the guide plates (12) one by one; When the bumper plate (3) at one end of the interlocking rod member (1) abuts against an obstacle and the moving device continues to move forward in the direction of the obstacle to a set distance, one of the guide plates (12) pushes the driving rod of the corresponding microswitch (25) to rotate and turns on the microswitch (25), and the other guide plate (12) moves away from the corresponding microswitch (25); When the bumper plate (3) releases the abutting state with the obstacle, both of the microswitches (25) are in the off state.
3. The collision sensing component according to claim 2, wherein: The interlocking rod member (1) includes a connecting plate (11). Both of the guide plates (12) are arranged on the connecting plate (11). Both ends of the connecting plate (11) are connected with first connecting rods (13). One end of each of the two first connecting rods (13) away from the connecting plate (11) is connected with a connecting sleeve (14). One end of each of the two connecting sleeves (14) away from the first connecting rod (13) is connected with a second connecting rod (15). One end of each of the two second connecting rods (15) away from the connecting sleeve (14) is connected with a bumper plate (3). The number of the return springs (110) is two. The return springs (110) correspond to the connecting sleeves (14) one by one. The return springs (110) are sleeved on the corresponding connecting sleeves (14), and one end of the return spring (110) is fixed on the connecting sleeve (14), and the other end is fixed on the moving device.
4. The collision sensing component according to claim 3, wherein: The connecting sleeve (14) is threadedly connected with an adjusting seat (19); the second connecting rod (15) is penetrated by a fixing plate (17); a guide seat (18) is arranged on the fixing plate (17); the second connecting rod (15) passes through the guide seat (18); the fixing plate (17) is used to be fixed to the moving device; one end of the return spring (110) is arranged on the adjusting seat (19), and the other end is arranged on the guide seat (18).
5. The collision sensing component according to claim 4, wherein: A fixing seat (16) is provided on the striker plate (3), and the fixing seat (16) is connected to the second connecting rod (15).
6. The collision sensing component according to claim 3, wherein: The two guide plates (12) are each located at one end of the connecting plate (11), one guide plate (12) is located at the top of the connecting plate (11), and the other guide plate (12) is located at the bottom of the connecting plate (11).
7. The collision sensing component according to claim 5, wherein: The second connecting rod (15) is a prismatic rod, one end of the second connecting rod (15) is inserted into the connecting sleeve (14), and the other end is inserted into the fixing seat (16).
8. The collision sensing component according to claim 6, characterized in that: The invention also comprises a fixing frame (21), wherein the fixing frame (21) is used for being installed on a mobile device, the fixing frame (21) is connected to a mounting plate (22), the mounting plate (22) is connected to an upper mounting block (23) and a lower mounting block (24), the two micro switches (25) are respectively mounted on the upper mounting block (23) and the lower mounting block (24), the lower mounting block (24) corresponds to the guide plate (12) located at the bottom of the connecting plate (11), and the upper mounting block (23) corresponds to the guide plate (12) located at the top of the connecting plate (11).
9. An intelligent walking device, characterized in that: It comprises a collision sensing component according to any one of claims 1 to 8, wherein at least two collision sensing components are provided, adjacent collision sensing components are installed at different heights, and further comprises a plurality of photoelectric sensors (8) on both sides.
10. The intelligent walking device according to claim 9, wherein: It comprises a drive motor (72), the drive motor (72) being used to drive the intelligent walking device to move along the length direction of the linkage rod (1), and the drive motor (72) is equipped with an encoder.