Anti-collision and anti-toppling device for collection type robot
Through the support structure and damping structure of the anti-tilt device, the problem of dumping and shaking of the robot during movement is solved, and the robot stability and material safety protection is achieved.
Patent Information
- Application Number
- CN202422734634.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-08
- Publication Date
- 2025-08-22
- Estimated Expiration
- 2034-11-08
AI Technical Summary
During the movement, collector robots are prone to lose balance and dumping due to collision or inertia, resulting in damage to internal equipment and shaking and overturning of materials.
Anti-tilt device is adopted, including anti-tilt support structure and damping and anti-shaking structure. The gyroscope balance switch is used to detect the tilt state and start the support foot to prevent tilting, and absorb the shaking through the damping weight round cake and ring buffer.
Effectively prevent robots from dumping and shaking with materials, and protect equipment and materials from being safe.
Smart Images
Figure CN223252966U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of robots, and in particular relates to an anti-collision and anti-dumping device for a collection-type robot. Background Art
[0002] In modern industrial and agricultural production and transportation, collection robots are often used to help people collect and transport materials, reducing the burden on humans and improving efficiency. Collection robots usually use rollers as a driving device to move. When the robot collides during movement, it loses balance and falls over, damaging the robot's internal equipment. In addition, when the robot starts or brakes to a stop, the inertia causes the robot to shake, causing the materials carried by the robot to shake or even overturn, resulting in damage. Therefore, it is necessary to provide an anti-collision and anti-overturning mechanism for collection robots to solve the above problems. Summary of the Invention
[0003] In response to the aforementioned technical issues, a collision and tipping prevention device for a collection robot is provided. The device detects a tipping robot through a tipping support assembly within the device, then deploys its support legs to prevent the robot from tipping over. Furthermore, the damping counterweight disk and damping counterweight ring of the anti-sway assembly absorb the robot's sway during starting and braking, respectively, through the damping of the disk's buffer spring and the counterweight ring's buffer spring, thereby preventing the robot's carried materials from swaying and tipping over.
[0004] The technical means adopted by this utility model are as follows:
[0005] An anti-collision and anti-dumping device for a collection-type robot comprises: a base, a body, an anti-dumping support structure, a gyroscopic stabilization structure, and a damping and anti-swaying structure, wherein:
[0006] Universal wheels are installed on both sides of the base, the body is fixedly installed above the base, the anti-dump support structure is arranged on the base, and the anti-dump support structure is used to open the support feet when the robot tilts to prevent the robot from tipping over; the gyro stabilization structure is arranged between the base and the body, and the gyro stabilization structure is used to provide upward angular momentum for the robot and stabilize the robot as a whole; the damping anti-sway structure is arranged on the top of the body; the damping anti-sway structure is used to provide counterweight and buffering to absorb the shaking of the robot when starting to move and braking to stop.
[0007] Furthermore, the anti-dumping support structure includes a support foot, a support foot motor and a gyroscope balance switch, wherein:
[0008] The two supporting legs and the two supporting leg motors are respectively arranged on both sides of the base, one end of the supporting leg is rotatably connected to the output shaft of the supporting leg motor, and the gyroscope balance switch is arranged at the center of the base.
[0009] Furthermore, the gyro balance switch includes: a gyro ring base, a gyro ring, a rectangular column, a conductive contact piece, a gyro rotor motor and a ring rotor, wherein:
[0010] The gyro ring base is fixed at the center of the base, the central axis of the gyro ring is rotatably fixed on the gyro ring base, one end of the rectangular column is fixedly connected to the bottom of the gyro ring, and the other end is provided with a conductive contact; two conductive contacts are respectively provided on both sides of the rectangular column, and the placement direction of the two conductive contacts is parallel to the central axis of the gyro ring; the gyro rotor motor is embedded in the top of the gyro ring, and a ring rotor is fixed on the top of the gyro rotor motor.
[0011] Furthermore, the gyro ring base is also provided with an electrode arm, a pre-fracture electrode sheet and a post-fracture electrode sheet, wherein:
[0012] The two electrode arms are respectively arranged on both sides of the gyro ring base, and the electrode arms are arranged just below the center of the conductive contact piece. The two sides of the electrode arms are respectively provided with a pre-break electrode piece and a post-break electrode piece.
[0013] Furthermore, the gyro stabilization structure includes a gyro motor and a gyro turntable, wherein:
[0014] The gyro motor is arranged at the center of the gyro turntable, and the gyro turntable is embedded in the base. The gyro motor is used to drive the gyro turntable to rotate, thereby providing upward angular momentum for the robot.
[0015] Furthermore, the damping anti-sway structure includes: a damper housing, a damping counterweight disk, a disk buffer spring, a connecting column, a counterweight ring buffer spring, and a damping counterweight ring, wherein:
[0016] The damper housing is arranged on the top of the machine body and is sleeved on the outside of the damping counterweight disc and the damping counterweight ring. The damping counterweight disc is fixed to the inner wall of the damper housing through a disc buffer spring. One end of the connecting column is connected to the bottom of the damping counterweight disc, and the other end is connected to the inner side of the damping counterweight ring through a counterweight ring buffer spring.
[0017] Compared with the prior art, the utility model has the following advantages:
[0018] The utility model provides an anti-collision and tipping device for a collection-type robot, which detects the tilting state of the robot through the gyroscope balance switch of the tipping support assembly. When the robot tilts, the gyroscope balance switch will start the support foot motor in the corresponding direction according to the tipping direction of the robot to open the support foot to prevent the robot from tipping.
[0019] The utility model provides an anti-collision and anti-dumping device for a collection-type robot. The damping counterweight disk and the damping counterweight ring in the damping and anti-swaying device respectively absorb the shaking of the robot during starting, moving and braking through the buffer spring of the disk and the buffer spring of the counterweight ring, thereby preventing the materials carried by the robot from shaking and dumping.
[0020] Based on the above reasons, the utility model can be widely promoted in the field of robots. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.
[0022] Figure 1 This is a schematic structural diagram of the anti-collision and dumping device for a collection-type robot in the present utility model.
[0023] Figure 2 This is an exploded view of the present utility model.
[0024] Figure 3 This is a top view of the gyroscope balance switch structure in the present utility model.
[0025] Figure 4 This is a front view of the gyroscope balance switch structure in the utility model.
[0026] Figure 5 This is a schematic diagram of the decomposition of the gyroscope balance switch in the present utility model.
[0027] Figure 6 This is a schematic diagram of the damping and anti-swaying structure in the utility model.
[0028] In the figure: 1. Base; 11. Universal wheel; 2. Machine body; 3. Anti-dumping support structure; 31. Support foot; 32. Support foot motor; 33. Gyro balance switch; 331. Gyro ring base; 332. Gyro ring; 333. Rectangular column; 334. Conductive contact; 335. Electrode arm; 336. Electrode piece before breaking; 337. Electrode piece after breaking; 338. Gyro rotor motor; 339. Ring rotor; 4. Gyro stabilization structure; 41. Gyro motor; 42. Gyro turntable; 5. Damping anti-sway structure; 51. Damper housing; 52. Damping counterweight disk; 53. Disk buffer spring; 54. Connecting column; 55. Counterweight ring buffer spring; 56. Damping counterweight ring. DETAILED DESCRIPTION
[0029] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.
[0030] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.
[0031] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.
[0032] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values described in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The techniques, methods and equipment known to ordinary technicians in the relevant fields may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, so once an item is defined in one figure, it does not need to be further discussed in subsequent figures.
[0033] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.
[0034] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.
[0035] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.
[0036] like Figure 1As shown, the utility model provides an anti-collision and anti-dumping device for a collection robot, comprising: a base 1, a body 2, an anti-dumping support structure 3, a gyroscopic stabilization structure 4 and a damping anti-swaying structure 5, wherein:
[0037] Universal wheels 11 are installed on both sides of the base 1, the body 2 is fixedly installed above the base 1, and the anti-dump support structure 3 is arranged on the base 1. The anti-dump support structure 3 is used to open the support feet when the robot tilts to prevent the robot from tipping over; the gyroscopic stabilization structure 4 is arranged between the base 1 and the body 2, and the gyroscopic stabilization structure 4 is used to provide upward angular momentum for the robot to stabilize the robot as a whole; the damping anti-sway structure 5 is arranged on the top of the body 2; the damping anti-sway structure 5 is used to provide counterweight and buffering to absorb the shaking of the robot when starting to move and braking to stop.
[0038] In a specific implementation, as a preferred embodiment, the anti-dumping support structure 3 includes a support foot 31, a support foot motor 32 and a gyroscope balance switch 33, wherein:
[0039] The two supporting legs 31 and the two supporting leg motors 32 are respectively arranged on both sides of the base 1, one end of the supporting leg 31 is rotatably connected to the output shaft of the supporting leg motor 32, and the gyroscope balance switch 33 is arranged at the center position of the base 1.
[0040] In a specific implementation, as a preferred embodiment, the gyro balance switch 33 includes: a gyro ring base 331, a gyro ring 332, a rectangular column 333, a conductive contact 334, a gyro rotor motor 338 and a ring rotor 339, wherein:
[0041] The gyro ring base 331 is fixed to the center of the base 1, and the central axis of the gyro ring 332 is rotatably fixed to the gyro ring base 331. One end of the rectangular column 333 is fixedly connected to the bottom of the gyro ring 332, and the other end is provided with a conductive contact 334; two conductive contacts 334 are respectively provided on both sides of the rectangular column 333, and the placement direction of the two conductive contacts 334 is parallel to the central axis of the gyro ring 332; the gyro rotor motor 338 is embedded in the top of the gyro ring 332, and a ring rotor 339 is fixed to the top of the gyro rotor motor 338.
[0042] In a specific implementation, as a preferred embodiment, the gyro ring base 331 is further provided with an electrode arm 335, a pre-break electrode sheet 336 and a post-break electrode sheet 337, wherein:
[0043] The two electrode arms 335 are respectively arranged on both sides of the gyro ring base 331 . The electrode arms 335 are arranged directly below the center of the conductive contact piece 334 . A pre-break electrode piece 336 and a post-break electrode piece 337 are respectively arranged on both sides of the electrode arms 335 .
[0044] In a specific implementation, as a preferred embodiment, the gyro stabilization structure 4 includes a gyro motor 41 and a gyro turntable 42, wherein:
[0045] The gyro motor 41 is disposed at the center of the gyro turntable 42 , which is embedded in the base 1 . The gyro motor 41 is used to drive the gyro turntable 42 to rotate, thereby providing upward angular momentum for the robot.
[0046] In a specific implementation, as a preferred embodiment, the damping anti-sway structure 5 includes: a damper housing 51, a damping counterweight disk 52, a disk buffer spring 53, a connecting column 54, a counterweight ring buffer spring 55, and a damping counterweight ring 56, wherein:
[0047] The damper housing 51 is arranged on the top of the body 2 and is sleeved on the outside of the damping counterweight disc 52 and the damping counterweight ring 56. The damping counterweight disc 52 is fixed to the inner wall of the damper housing 51 through the disc buffer spring 53. One end of the connecting column 54 is connected to the bottom of the damping counterweight disc 52, and the other end is connected to the inner side of the damping counterweight ring 56 through the counterweight ring buffer spring 55.
[0048] In specific implementation, as a preferred embodiment,
[0049] Example 1
[0050] like Figure 1 As shown, the present invention provides an anti-collision and anti-tip device for a collection robot. This embodiment is a specific implementation method for preventing the robot from tipping over. A gyro rotor motor drives the annular rotor. When the robot tilts, the gyro ring tilts, causing the conductive contacts to contact the pre-break and post-break electrode plates that maintain balance. This activates the motors of the support legs in the tipping direction, opening the corresponding support legs and preventing the robot from tipping over.
[0051] Example 2
[0052] like Figure 1 As shown, this embodiment also provides a specific implementation method for preventing the materials carried by the robot from shaking and falling.
[0053] The rotation of the gyro motor causes the gyro turntable to rotate, providing upward angular momentum for the robot as a whole, thereby stabilizing the robot as a whole. The damping counterweight disk and damping counterweight ring in the damping anti-sway device absorb the shaking of the robot during starting and braking through the buffering of the disk buffer spring and the counterweight ring buffer spring respectively, preventing the materials carried by the robot from shaking and tipping over.
[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.
Claims
1. A collision and dumping prevention device for a collection robot, characterized in that: include: A base (1), a body (2), an anti-dumping support structure (3), a gyroscopic stabilization structure (4) and a damping anti-swaying structure (5), wherein: Universal wheels (11) are installed on both sides of the base (1); the body (2) is fixedly installed above the base (1); the anti-dumping support structure (3) is arranged on the base (1); the anti-dumping support structure (3) is used to open the support legs when the robot tilts to prevent the robot from tipping over; the gyroscopic stabilization structure (4) is arranged between the base (1) and the body (2); the gyroscopic stabilization structure (4) is used to provide upward angular momentum for the robot to stabilize the robot as a whole; the damping anti-sway structure (5) is arranged on the top of the body (2); the damping anti-sway structure (5) is used to provide counterweight and buffer to absorb the shaking of the robot when starting to move and braking to stop.
2. The anti-collision and dumping device for a collection type robot according to claim 1, characterized in that: The anti-dumping support structure (3) comprises a support foot (31), a support foot motor (32) and a gyroscope balance switch (33), wherein: The two supporting legs (31) and the two supporting leg motors (32) are respectively arranged on both sides of the base (1); one end of the supporting leg (31) is rotatably connected to the output shaft of the supporting leg motor (32); and the gyroscope balance switch (33) is arranged at the center of the base (1).
3. The anti-collision and dumping device for a collection robot according to claim 2, characterized in that: The gyro balance switch (33) comprises: a gyro ring base (331), a gyro ring (332), a rectangular column (333), a conductive contact piece (334), a gyro rotor motor (338) and a ring rotor (339), wherein: The gyro ring base (331) is fixed at the center of the base (1); the central axis of the gyro ring (332) is rotatably fixed on the gyro ring base (331); one end of the rectangular column (333) is fixedly connected to the bottom of the gyro ring (332); and the other end is provided with a conductive contact (334); two conductive contacts (334) are respectively provided on both sides of the rectangular column (333), and the placement direction of the two conductive contacts (334) is parallel to the central axis of the gyro ring (332); the gyro rotor motor (338) is embedded in the top of the gyro ring (332), and a ring rotor (339) is fixed on the top of the gyro rotor motor (338).
4. The anti-collision and dumping device for a collection robot according to claim 3, characterized in that: The gyro ring base (331) is further provided with an electrode arm (335), a pre-break electrode sheet (336) and a post-break electrode sheet (337), wherein: The two electrode arms (335) are respectively arranged on both sides of the gyro ring base (331), and the electrode arms (335) are arranged directly below the center of the conductive contact piece (334). The two sides of the electrode arms (335) are respectively provided with a pre-break electrode piece (336) and a post-break electrode piece (337).
5. The anti-collision and dumping device for a collection robot according to claim 1, characterized in that: The gyro stabilization structure (4) comprises a gyro motor (41) and a gyro turntable (42), wherein: The gyro motor (41) is arranged at the center of the gyro turntable (42), and the gyro turntable (42) is embedded in the base (1). The gyro motor (41) is used to drive the gyro turntable (42) to rotate, thereby providing upward angular momentum for the robot.
6. The anti-collision and dumping device for a collection robot according to claim 1, characterized in that: The damping anti-swaying structure (5) comprises: a damper housing (51), a damping counterweight disk (52), a disk buffer spring (53), a connecting column (54), a counterweight ring buffer spring (55), and a damping counterweight ring (56), wherein: The damper housing (51) is arranged on the top of the machine body (2) and is sleeved on the outside of the damping counterweight disk (52) and the damping counterweight ring (56). The damping counterweight disk (52) is fixed to the inner wall of the damper housing (51) through a disk buffer spring (53). One end of the connecting column (54) is connected to the bottom of the damping counterweight disk (52), and the other end is connected to the inner side of the damping counterweight ring (56) through a counterweight ring buffer spring (55).