Collision sensing mechanism and walking robot

Abstract

The utility model provides a collision sensing mechanism and a walking robot, the collision sensing mechanism comprises a first collision frame, a connecting frame and a second collision frame, and the connecting frame is used for being connected with the walking robot installed on the collision sensing mechanism; the first collision frame is movably installed on one side of the connecting frame, and the second collision frame is movably installed on the side, away from the connecting frame, of the first collision frame. A first collision sensor is installed between the first collision frame and the connecting frame, and a second collision sensor is installed between the second collision frame and the first collision frame. The two ends of the first collision frame protrude out of the two sides of the second collision frame. According to the collision sensing mechanism provided by the utility model, the first collision frame and the second collision frame are respectively used for detecting collisions in different directions, so that the walking robot applying the collision sensing mechanism can sense obstacles at different angles in the walking process, thereby better realizing obstacle avoidance.

Description

Technical Field

[0001] This utility model relates to the field of robot obstacle avoidance technology, specifically to a collision sensing mechanism and a walking robot. Background Technology

[0002] Existing mobile robots, in order to meet increasingly diverse needs, often need to operate in complex environments full of obstacles. When a mobile robot collides with obstacles such as walls and rocks, continued movement can easily lead to scratches on the robot's surface and even damage to components. Therefore, existing mobile robots typically require specially installed collision sensors for obstacle avoidance. For example, patent CN210352235U discloses a rear collision triggering device for a self-propelled device and the self-propelled device itself, which identifies obstacles through the design of the collision triggering device. However, it is clear that the technical solution disclosed in this patent can only identify obstacles in front of the mobile robot during its movement and cannot perceive obstacles in other directions. Utility Model Content

[0003] This utility model provides a collision sensing mechanism and a walking robot to solve the problem that existing walking robots can only identify obstacles in front of them during walking, but cannot perceive obstacles in other directions.

[0004] To achieve the above objectives, the present invention adopts the following technical solutions:

[0005] A collision sensing mechanism includes a first collision frame, a connecting frame, and a second collision frame, wherein the connecting frame is used to connect to a walking robot on which the collision sensing mechanism is mounted;

[0006] The first collision frame is movably mounted on one side of the connecting frame, and the second collision frame is movably mounted on the side of the first collision frame away from the connecting frame;

[0007] A first collision sensor is installed between the first collision frame and the connecting frame to detect the displacement of the first collision sensor relative to the connecting frame. A second collision sensor is installed between the second collision frame and the first collision frame to detect the displacement of the second collision frame relative to the first collision frame.

[0008] The two ends of the first collision frame protrude from the sides of the second collision frame, so that the first collision frame is used to collide with obstacles on both sides of the collision sensing mechanism.

[0009] The second collision frame is used to collide with obstacles on the side of the collision sensing mechanism facing the second collision frame;

[0010] By setting up a first collision frame and a second collision frame to detect collisions from different directions, the walking robot using this collision sensing mechanism can perceive obstacles at different angles during walking, thereby achieving better obstacle avoidance.

[0011] In one embodiment, the first collision frame has collision angles at both ends, and the collision angles bend toward the side of the first collision frame away from the second collision frame, thereby reducing the deflection force on the collision sensing mechanism when the collision angles come into contact with an obstacle.

[0012] In one embodiment, a protruding connecting horn is formed on the side of the connecting frame away from the first collision frame. The connecting horn is used to connect with the walking robot, making the connection and installation of the collision sensing mechanism and the walking robot simpler.

[0013] In one embodiment, a first receiving groove is formed on the side of the connecting frame near the first collision frame and / or on the side of the first collision frame near the connecting frame. The first receiving groove is used to accommodate the first collision sensor, reduce the shaking of the first collision sensor, and improve the detection accuracy of the first collision sensor. A second receiving groove is formed on the side of the first collision frame near the second collision frame and / or on the side of the second collision frame near the first collision frame. The second receiving groove is used to accommodate the second collision sensor.

[0014] In one embodiment, at least two first collision sensors are installed between the first collision frame and the connecting frame. The multiple first collision sensors work together to detect the deflection of the first collision frame relative to the connecting frame.

[0015] At least two second collision sensors are installed between the second collision mount and the first collision mount. Similarly, this allows the deflection of the second collision mount relative to the first collision mount to be detected.

[0016] In one embodiment, the collision sensing mechanism further includes a first connecting block, which is fixedly mounted on the connecting frame and slides with the first collision frame. The first connecting block also substantially constrains the movement of the first collision frame relative to the connecting frame and limits the swing range of the first collision frame relative to the connecting frame.

[0017] Furthermore, the first connecting block includes a first support plate for the first connecting block to overlap on the connecting frame, and a hollow first connecting post; a guide hole is provided on the side of the first collision frame near the connecting frame, and the position of the guide hole on the first collision frame corresponds to the position of the first connecting post; at least one first insertion port through the connecting frame is formed on the connecting frame, the first connecting post is inserted into the first insertion port, a guide rod is further inserted into the first connecting post, and the end of the guide rod is inserted into the guide hole, so that the first collision frame can slide along the guide rod, that is, the movement of the first collision frame relative to the connecting frame is guided and constrained by the guide rod.

[0018] In one embodiment, the collision sensing mechanism further includes a second connecting block, which is fixedly mounted on the first collision frame and slides with the second collision frame. The second connecting block also substantially constrains the movement of the second collision frame relative to the first collision frame, thereby limiting the swing range of the second collision frame relative to the first collision frame.

[0019] Furthermore, the second connecting block includes a second support plate for the second connecting block to overlap the connecting frame or the first collision frame, and a hollow second connecting post for insertion into the second socket; the second collision frame has a guide hole on the side near the first collision frame, and the position of the guide hole on the second collision frame corresponds to the position of the second connecting post; the first collision frame has at least one second socket that penetrates the first collision frame, the second connecting post is inserted into the second socket, a guide rod is further inserted into the second connecting post, and the end of the guide rod is inserted into the guide hole, so that the second collision frame can slide along the guide rod, that is, the movement of the second collision frame relative to the first collision frame is guided and constrained by the guide rod.

[0020] In one embodiment, a mounting groove is formed on the side of the first collision frame facing the second collision frame for the second collision frame to be fitted and installed.

[0021] A walking robot is equipped with the aforementioned collision sensing mechanism, which enables it to sense obstacles at different angles during walking and thus better avoid obstacles.

[0022] The beneficial effects of this utility model are as follows:

[0023] The collision sensing mechanism provided by this utility model, by setting a first collision frame and a second collision frame to detect collisions in different directions, enables the walking robot that uses this collision sensing mechanism to perceive obstacles at different angles during walking, thereby achieving better obstacle avoidance. Attached Figure Description

[0024] Figure 1 An exploded view of the collision sensing mechanism;

[0025] Figure 2 This is a 3D view of the collision sensing mechanism;

[0026] Figure 3 This is a three-dimensional view of the first collision frame;

[0027] Figure 4 A three-dimensional view of the first collision frame from another angle;

[0028] Figure 5 This is a three-dimensional view of the connecting frame;

[0029] Figure 6 This is a three-dimensional view of the connecting frame from another angle.

[0030] Figure 7 This is a three-dimensional view of the second collision frame;

[0031] Figure 8 This is a 3D view of the first connecting block;

[0032] Figure 9 This is a 3D view of the second connecting block;

[0033] Figure 10 A 3D view of a walking robot that incorporates a collision sensing mechanism.

[0034] Explanation of reference numerals in the attached figures:

[0035] 1. First collision frame; 11. Collision angle; 12. Mounting slot; 121. Second socket; 101. Guide hole; 2. Connecting frame; 21. Connecting horn; 22. First socket; 23. First receiving slot; 3. Second collision frame; 31. Second receiving slot; 4. First connecting block; 41. First support plate; 42. First connecting post; 421. First mounting hole; 5. Second connecting block; 51. Second support plate; 52. Second connecting post; 6. First collision sensor; 7. Second collision sensor; 8. Walking robot; 81. Collision sensing mechanism. Detailed Implementation

[0036] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0037] like Figure 1-2As shown, this embodiment of the present invention provides a collision sensing mechanism, specifically including a first collision frame 1, a connecting frame 2, and a second collision frame 3. The connecting frame 2 is used to connect to a specific walking robot on which the collision sensing mechanism is installed. The first collision frame 1 is movably installed on one side of the connecting frame 2, and the second collision frame 3 is movably installed on the side of the first collision frame 1 away from the connecting frame 2. A first collision sensor 6 is installed between the first collision frame 1 and the connecting frame 2 to detect the displacement of the first collision sensor 6 relative to the connecting frame 2. A second collision sensor 7 is installed between the second collision frame 3 and the first collision frame 1 to detect the displacement of the second collision frame 3 relative to the first collision frame 1. The two ends of the first collision frame 1 protrude from the sides of the second collision frame 3, so that the first collision frame 1 is used to collide with obstacles on both sides of the collision sensing mechanism; the second collision frame 3 is used to collide with obstacles on the side of the collision sensing mechanism facing the second collision frame 3 (obviously, both the first collision sensor 6 and the second collision sensor 7 should be displacement sensors, so that the displacement of the second collision frame 3 relative to the first collision frame 1 and the displacement of the first collision frame 1 relative to the connecting frame 2 can be converted into electrical signals; the specific displacement sensor types that can be selected include: potentiometer displacement sensor, inductive displacement sensor, synchro, capacitive displacement sensor, eddy current displacement sensor, and Hall effect displacement sensor).

[0038] As an improved embodiment for improving the collision effect of the first collision frame 1, such as Figures 2-4 As shown, collision angles 11 are formed at both ends of the first collision frame 1. The collision angles 11 bend toward the side of the first collision frame 1 away from the second collision frame 3, thereby reducing the deflection force on the collision sensing mechanism when the collision angles 11 come into contact with the obstacle.

[0039] As an improved embodiment for enhancing the ease of connection between the connecting frame 2 and the collision sensing mechanism of the walking robot, such as Figures 5-6 As shown, a protruding connecting horn 21 is formed on the side of the connecting frame 2 away from the first collision frame 1, which is used to connect with a specific walking robot, making the connection and installation of the collision sensing mechanism and the walking robot simpler. Specifically, it can be connected by bolts, buckles and other connecting parts.

[0040] As an improved embodiment of the collision sensing mechanism, such as Figure 1 , Figure 4 , Figure 5 and Figure 7As shown, a first receiving groove 23 is formed on the side of the connecting frame 2 near the first collision frame 1 and / or on the side of the first collision frame 1 near the connecting frame 2. The first receiving groove 23 is used to accommodate the first collision sensor 6, reduce the shaking of the first collision sensor 6, and improve the detection accuracy of the first collision sensor 6. Similarly, a second receiving groove 31 is formed on the side of the first collision frame 1 near the second collision frame 3 and / or on the side of the second collision frame 3 near the first collision frame 1. The second receiving groove 31 is used to accommodate the second collision sensor 7.

[0041] As another improved embodiment of the collision sensing mechanism, at least two first collision sensors 6 are installed between the first collision frame 1 and the connecting frame 2. The multiple first collision sensors 6 work together to detect the deflection of the first collision frame 1 relative to the connecting frame 2. Similarly, at least two second collision sensors 7 are also installed between the second collision frame 3 and the first collision frame 1.

[0042] As an improved embodiment for improving the movement effect of the first collision frame 1 relative to the connecting frame 2, such as Figures 1-6 ,as well as Figure 8 As shown, the collision sensing mechanism also includes a first connecting block 4, which is fixedly mounted on the connecting frame 2 and slides with the first collision frame 1. The first connecting block 4 also constrains the movement of the first collision frame 1 relative to the connecting frame 2, and limits the swing range of the first collision frame 1 relative to the connecting frame 2 (in a more specific embodiment, the first collision frame 1 is constrained by the connecting block 4, so that the first collision frame 1 can only move in a straight line relative to the connecting frame 2 and cannot swing).

[0043] As a further improvement to the movement effect of the first collision frame 1 relative to the connecting frame 2, the first connecting block 4 includes a first support plate 41 for the first connecting block 4 to overlap on the connecting frame 2, and a hollow first connecting post 42; the first collision frame 1 is provided with a guide hole 101 on the side near the connecting frame 2, and the position of the guide hole 101 on the first collision frame 1 corresponds to the position of the first connecting post 42; at least one first insertion port 22 is formed on the connecting frame 2, the first connecting post 42 is inserted and installed in the first insertion port 22, and a guide rod is inserted and installed in the first connecting post 42 (the guide rod can be a round rod, a square rod, or a rod with other cross-sectional shapes. As long as the cross-sectional shape of the guide rod matches the shape of the first insertion port 22 and the hole of the guide hole 101, the technical effect of motion guidance can be achieved). The end of the guide rod is inserted into the guide hole 101, so that the first collision frame 1 can slide along the guide rod, that is, the movement of the first collision frame 1 relative to the connecting frame 2 is guided and constrained by the guide rod.

[0044] As an improved embodiment for improving the movement effect of the second collision frame 3 relative to the first collision frame 1, such as Figures 1-6 ,as well as Figure 9 As shown, the collision sensing mechanism also includes a second connecting block 5, which is fixedly installed on the first collision frame 1 and slides with the second collision frame 3. The second connecting block 5 also constrains the movement of the second collision frame 3 relative to the first collision frame 1, and limits the swing range of the second collision frame 3 relative to the first collision frame 1 (in one embodiment, the second collision frame 3 is constrained by the second connecting block 5, so that the second collision frame 3 can only move in a straight line relative to the first collision frame 1 and cannot swing).

[0045] As a further improvement to the movement effect of the second collision frame 3 relative to the first collision frame 1, the second connecting block 5 includes a second support plate 51 for the second connecting block 5 to overlap the connecting frame 2 or the first collision frame 1, and a hollow second connecting post 52 for insertion into the second socket 121; the second collision frame 3 is provided with a guide hole 101 on the side near the first collision frame 1, and the position of the guide hole 101 on the second collision frame 3 corresponds to the position of the second connecting post 52; at least one through-hole is formed on the first collision frame 1. The second connector 52 is inserted into the second connector 121 of the frame 1. A guide rod is inserted into the second connector 52 (the guide rod can be a round rod, a square rod, or a rod with other cross-sectional shapes. As long as the cross-sectional shape of the guide rod matches the shape of the second connector 121 and the hole of the guide hole 101, the technical effect of motion guidance can be achieved). The end of the guide rod is inserted into the guide hole 101, so that the second collision frame 3 can slide along the guide rod. That is, the movement of the second collision frame 3 relative to the first collision frame 1 is guided and constrained by the guide rod.

[0046] To improve the overall reliability of the collision sensing mechanism and reduce the impact of the first collision frame 1 and the second collision frame 3 on their respective collision detection operations, such as... Figure 3 As shown, in an improved embodiment, a mounting groove 12 is formed on the side of the first collision frame 1 facing the second collision frame 3 for the second collision frame 3 to be fitted and installed (obviously, if a second insertion port 121 is formed on the first collision frame 1, the second insertion port 121 should be located in the mounting groove 12).

[0047] The collision sensing mechanism provided by this utility model, by setting a first collision frame and a second collision frame to detect collisions in different directions, enables the walking robot that uses this collision sensing mechanism to perceive obstacles at different angles during walking, thereby achieving better obstacle avoidance.

[0048] It is easy to understand that this utility model also discloses a walking robot, which is equipped with the aforementioned collision sensing mechanism, that is, it can sense obstacles at different angles during walking, thereby better achieving obstacle avoidance.

[0049] The embodiments described above merely illustrate the implementation of this utility model, and should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A collision sensing mechanism, characterized in that, It includes a first collision frame (1), a connecting frame (2), and a second collision frame (3). The connecting frame (2) is used to connect to the walking robot on which the collision sensing mechanism is installed. The first collision frame (1) is movably mounted on one side of the connecting frame (2), and the second collision frame (3) is movably mounted on the side of the first collision frame (1) away from the connecting frame (2); A first collision sensor (6) is installed between the first collision frame (1) and the connecting frame (2), and a second collision sensor (7) is installed between the second collision frame (3) and the first collision frame (1); The two ends of the first collision frame (1) protrude from the sides of the second collision frame (3).

2. The collision sensing mechanism according to claim 1, characterized in that, The first collision frame (1) has collision angles (11) formed at both ends, and the collision angles (11) bend toward the side of the first collision frame (1) away from the second collision frame (3).

3. The collision sensing mechanism according to claim 1, characterized in that, A protruding connecting horn (21) is formed on the side of the connecting frame (2) away from the first collision frame (1), and the connecting horn (21) is used to connect with the walking robot.

4. The collision sensing mechanism according to claim 1, characterized in that, A first receiving groove (23) is formed on the side of the connecting frame (2) near the first collision frame (1) and / or on the side of the first collision frame (1) near the connecting frame (2), the first receiving groove (23) being used to accommodate the first collision sensor (6); A second receiving groove (31) is formed on the side of the first collision frame (1) near the second collision frame (3) and / or on the side of the second collision frame (3) near the first collision frame (1), the second receiving groove (31) being used to accommodate the second collision sensor (7).

5. The collision sensing mechanism according to claim 1, characterized in that, At least two first collision sensors (6) are installed between the first collision frame (1) and the connecting frame (2); At least two second collision sensors (7) are installed between the second collision frame (3) and the first collision frame (1).

6. The collision sensing mechanism according to claim 1, characterized in that, The collision sensing mechanism also includes a first connecting block (4), which is fixedly installed on the connecting frame (2) and slides with the first collision frame (1).

7. The collision sensing mechanism according to claim 6, characterized in that, The first connecting block (4) includes a first support plate (41) for the first connecting block (4) to overlap on the connecting frame (2), and a hollow first connecting column (42); The first collision frame (1) is provided with a guide hole (101) on the side near the connecting frame (2), and the position of the guide hole (101) on the first collision frame (1) corresponds to the position of the first connecting column (42); The connecting frame (2) has at least one first socket (22) that passes through the connecting frame (2), the first connecting post (42) is inserted into the first socket (22), and a guide rod is inserted into the first connecting post (42); The end of the guide rod is inserted into the guide hole (101) so that the first collision frame (1) can slide along the guide rod.

8. The collision sensing mechanism according to claim 1, characterized in that, The collision sensing mechanism further includes a second connecting block (5), which is fixedly installed on the first collision frame (1) and slides with the second collision frame (3).

9. The collision sensing mechanism according to claim 8, characterized in that, The second connecting block (5) includes a second support plate (51) for the second connecting block (5) to overlap on the connecting frame (2) or the first collision frame (1), and a hollow second connecting post (52) for insertion into the second socket (121); The second collision frame (3) is provided with a guide hole (101) on the side close to the first collision frame (1), and the position of the guide hole (101) on the second collision frame (3) corresponds to the position of the second connecting column (52); At least one second socket (121) is formed on the first collision frame (1). A second connecting post (52) is inserted into the second socket (121). A guide rod is inserted into the second connecting post (52). The end of the guide rod is inserted into the guide hole (101) so that the second collision frame (3) can slide along the guide rod.

10. The collision sensing mechanism according to claim 1, characterized in that, The first collision frame (1) has a mounting groove (12) on the side facing the second collision frame (3) for the second collision frame (3) to be fitted and installed.

11. A walking robot, characterized in that, The walking robot is equipped with a collision sensing mechanism according to any one of claims 1-10.

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