Anti-collision device and robot

Abstract

The anti-collision device is used for being assembled to a robot body, the anti-collision device comprises a collision rod and a first elastic piece, the collision rod is provided with a first mounting part and a second mounting part, the first mounting part is assembled with a first connecting part on the robot body, and the second mounting part is assembled with a second connecting part on the robot body. The second mounting part is assembled with a second connecting part on the robot main body, the first mounting part and the first connecting part can move relatively, and the second mounting part and the second connecting part can move relatively; the first elastic piece is arranged between the collision rod and the robot body and used for driving the collision rod to be away from the robot body, so that the first mounting part and the first connecting part which can move relatively are in an abutting state, and meanwhile the second mounting part and the second connecting part which can move relatively are in an abutting state. Therefore, the position of the collision rod relative to the robot body is limited, inclination of the collision rod relative to the robot body can be avoided, and the accuracy of collision detection is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, especially a kind of anti-collision device and robot. BACKGROUND

[0002] Collision rod can bear most of the impact force, and effectively absorb collision energy, reduce the deformation of machine body, so as to protect the internal parts of machine body, lawn mower is a kind of mechanical tool for cutting and trimming weeds and processing flat green lawn, lawn mower is widely used due to simple operation, saves manpower and time, and is widely used, usually equipped with collision rod on lawn mower for buffering the impact force generated by impact.

[0003] The existing lawn mower usually adds collision rod on robot body to avoid collision between robot body and obstacles during operation, but the collision rod is rotatably connected with the robot body, and the collision rod is prone to tilt, which is not conducive to the accuracy of collision detection.

[0004] Therefore, how to avoid the tilt of the collision rod relative to the robot body is a technical problem to be solved by those skilled in the art. UTILITY MODEL CONTENT

[0005] The utility model aims to provide an anti-collision device and robot, which can avoid the tilt of the collision rod relative to the robot body.

[0006] To achieve the above-mentioned purpose, the utility model provides an anti-collision device for assembling to robot body, comprising:

[0007] Collision rod, provided with first mounting portion and second mounting portion, first mounting portion is assembled with first connecting portion on robot body, second mounting portion is assembled with second connecting portion on robot body, first mounting portion is movable relative to first connecting portion, second mounting portion is movable relative to second connecting portion;

[0008] First elastic member, arranged between collision rod and robot body, for driving collision rod away from robot body.

[0009] Preferably, first mounting portion and second mounting portion are mounting holes, first connecting portion and second connecting portion are vertical columns, vertical column is movable in corresponding mounting hole, first elastic member drives collision rod away from robot body until mounting hole abuts against corresponding vertical column.

[0010] Preferably, collision rod extends along first direction, and two mounting holes are located on one side of collision rod in second direction.

[0011] First elastic member extends along second direction, first elastic member is two, two first elastic members correspond to two mounting holes respectively, and are located on the same side of collision rod in second direction with two mounting holes.

[0012] The first direction and the second direction are perpendicular to each other.

[0013] Preferably, the two mounting holes extend along a third direction, and each of the two mounting holes is a waist-shaped hole or an elliptical hole, and the post is capable of moving along a long axis direction of the mounting hole relative to the corresponding mounting hole to compress the first elastic member.

[0014] The third direction is perpendicular to the first direction and the second direction.

[0015] Preferably, the impact rod comprises an elastically connected base and an impact plate, the impact plate extends along the first direction, the base is arranged on one side of the impact plate in the second direction, the mounting hole is arranged on the base, and the base is provided with a collision detection sensor for sending a collision signal when the impact plate moves relative to the base.

[0016] Preferably, the collision detection sensor is two, and the two collision detection sensors are arranged on the two sides in the first direction, respectively.

[0017] Preferably, the collision detection sensor is a Hall chip, and the impact plate is provided with a permanent magnet corresponding to the Hall chip.

[0018] Preferably, the impact rod is further provided with a limiting strip on both sides of the base, the limiting strip and the mounting hole are located on the same side of the impact rod in the second direction, and the limiting strip extends along the first direction.

[0019] Preferably, the end of the limiting strip away from the base has a protruding lip surface extending along the second direction, and the other end of the limiting strip extends to the side wall of the base.

[0020] Preferably, the limiting strips on both sides of the base are a plurality of parallel limiting strips, and a rib is connected between adjacent protruding lip surfaces.

[0021] A robot comprises a robot body, and further comprises the anti-collision device as described above.

[0022] Preferably, the robot body has a central axis, the anti-collision device is assembled at the front end and / or the rear end of the robot body, the first mounting part and the second mounting part are located on the two sides of the central axis, respectively, and the first elastic member is two, and the two first elastic members are located on the two sides of the central axis, respectively.

[0023] Preferably, the front end and the rear end of the robot body are provided with wheels for driving the robot body to move, and the wheels are located on the two sides of the robot body, and the impact rod is capable of rotating around the post to be attached to at least one wheel.

[0024] The above technical solution has at least the following advantages:

[0025] The anti-collision device and the robot are provided with the first elastic member arranged between the collision rod and the robot main body, which drives the collision rod to move away from the robot main body, so that the relatively movable first mounting portion and the first connecting portion are in abutment, and the relatively movable second mounting portion and the second connecting portion are in abutment, thereby limiting the position of the collision rod relative to the robot main body, avoiding the inclination of the collision rod relative to the robot main body, and improving the accuracy of collision detection. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order 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 needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of the provided drawings.

[0027] Figure 1 The structure diagram of the anti-collision device provided by the embodiment of the present application is shown in the figure.

[0028] Figure 2 The structure diagram of the anti-collision device provided by the embodiment of the present application is shown in the figure.

[0029] Figure 3 The explosion diagram of the anti-collision device provided by the embodiment of the present application is shown in the figure.

[0030] Figure 4 The structure diagram of the anti-collision device provided by the embodiment of the present application is shown in the figure.

[0031] Figure 5 The internal structure diagram of the anti-collision device provided by the embodiment of the present application is shown in the figure.

[0032] Figure 6 The structure diagram of the anti-collision device provided by the embodiment of the present application is shown in the figure.

[0033] Among them:

[0034] 100-robot main body, 110-stand, 120-abutment position, 130-wheel;

[0035] 200-collision rod, 210-mounting hole, 220-base, 221-mounting portion, 222-stiffener, 230-collision plate, 231-permanent magnet, 232-second elastic member, 240-limiting strip, 241-lip surface, 250-rib;

[0036] 300-first elastic member. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0038] In order for those skilled in the art to better understand the technical solutions of the present application, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0039] In the description of the present application, it should be understood that the directions or position relationships indicated by the terms "left", "right" and the like are based on the directions or position relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the positions or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application.

[0040] The purpose of the present application is to provide a kind of anti-collision device and robot, can avoid the inclination of collision rod 200 relative to robot main body 100.

[0041] It should be noted that the direction of X in the drawings is defined as the first direction, the direction of Y is defined as the second direction, and the direction of Z is defined as the third direction. The first direction and the second direction are perpendicular to each other, the third direction and the first direction are perpendicular to each other, and the third direction and the second direction are perpendicular to each other.

[0042] Please refer to Figure 1 、 Figure 4 And Figure 5 To achieve the above purpose, the present application provides an anti-collision device for assembling to a robot main body 100, comprising a collision rod 200 and a first elastic member 300.

[0043] The collision rod 200 is provided with a first mounting portion and a second mounting portion. The first mounting portion is assembled with a first connecting portion on the robot main body 100, and the second mounting portion is assembled with a second connecting portion on the robot main body 100. The first mounting portion is movable relative to the first connecting portion, and the second mounting portion is movable relative to the second connecting portion.

[0044] The first elastic member 300 is arranged between the collision rod 200 and the robot main body 100, and is used to drive the collision rod 200 away from the robot main body 100.

[0045] The first elastic member 300 can be a spring, and the length of the first elastic member 300 on the axis thereof in a natural state is greater than or equal to the farthest distance of the collision rod 200 and the robot body 100 on the side facing each other in the second direction, so that the first elastic member 300 is in a compressed state or an approximate compressed state after being installed.

[0046] The first elastic member 300 arranged between the collision rod 200 and the robot body 100 drives the collision rod 200 away from the robot body 100, so that the relatively movable first mounting portion and the first connecting portion are in abutting state, and the relatively movable second mounting portion and the second connecting portion are in abutting state, thereby limiting the position of the collision rod 200 relative to the robot body 100, avoiding the inclination of the collision rod 200 relative to the robot body 100, and improving the accuracy of the collision detection.

[0047] The first mounting portion and the second mounting portion are mounting holes 210, and the first connecting portion and the second connecting portion are upright columns 110, which are movable in the corresponding mounting holes 210. The first elastic member 300 drives the collision rod 200 away from the robot body 100 until the mounting hole 210 abuts against the corresponding upright column 110.

[0048] The mounting hole 210 is used for the upright column 110 of the robot body 100 to pass through, and the upright column 110 is movable in the corresponding mounting hole 210, so that the collision rod 200 is movably connected to the robot body 100.

[0049] The collision rod 200 extends in the first direction, and the two mounting holes 210 are located on one side of the collision rod 200 in the second direction. The first elastic member 300 extends in the second direction, and there are two first elastic members 300, which correspond to the two mounting holes 210 respectively and are located on the same side of the collision rod 200 in the second direction.

[0050] The mounting hole 210 for the upright column 110 to pass through is arranged on the collision rod 200, and the collision rod 200 is movably installed on the robot body 100. When the first elastic member 300 has the longest length in the second direction, the upright column 110 abuts against the end of the inner wall of the mounting hole 210 close to the robot body 100. Through the cooperation of the upright column 110 and the mounting hole 210, the distance between the first elastic member 300 and the collision rod 200 and the robot body 100 can be limited, the inclination of the collision rod 200 relative to the robot body 100 can be avoided, and the accuracy of the collision detection can be improved.

[0051] It should be noted that the two mounting holes 210 are spaced apart along the first direction, the two columns 110 are spaced apart along the first direction, the distance between the axes of the two mounting holes 210 can be set to be consistent with the distance between the axes of the two columns 110, and through the elastic force of the two first elastic members 300 corresponding to the mounting holes 210, the collision rod 200 has a tendency to move away from the robot body 100, and the inner wall of the mounting hole 210 that is closer to the robot body 100 in the second direction is fitted to the corresponding column 110, so that the elastic force of the two first elastic members 300 acting on the collision rod 200 is different, and due to the limitation of the two columns 110, the end of the inner wall of the two mounting holes 210 close to the robot body 100 will abut against the column 110, so that the contact state of the corresponding mounting hole 210 and the column 110 is consistent, avoiding the inclination of the collision rod 200 relative to the robot body 100, and improving the accuracy of the collision detection.

[0052] In the embodiment, the two mounting holes 210 extend along the third direction, and the two mounting holes 210 are specifically waist-shaped holes or elliptical holes, and the column 110 can move relative to the mounting hole 210 along the long axis direction of the mounting hole 210 to compress the first elastic member 300.

[0053] Among them, the mounting hole 210 is waist-shaped or elliptical in the cross section perpendicular to the third direction, and the long axis of the waist-shaped or elliptical shape is preferably extended along the second direction, and when the column 110 moves relative to the mounting hole 210 along the long axis direction, the distance between the column 110 and the side of the collision rod 200 away from the robot body 100 in the second direction is changed, so that the collision rod 200 moves towards the robot body 100 when the first elastic member 300 is compressed.

[0054] Please refer to Figure 3 In some embodiments, the collision rod 200 includes an elastically connected base 220 and a collision plate 230, the collision plate 230 extends along the first direction, the base 220 is arranged on one side of the collision plate 230 in the second direction, and a second elastic member 232 is arranged between the base 220 and the collision plate 230, the second elastic member 232 can be a spring, so that the collision plate 230 can move relative to the base 220 after being stressed, and the base 220 is provided with a collision detection sensor for emitting a collision signal when the collision plate 230 moves relative to the base 220.

[0055] The mounting hole 210 is arranged on the base 220. Specifically, the base 220 is provided with a mounting portion 221 protruding towards the robot body 100 on the side away from the collision plate 230 in the second direction. A plurality of reinforcing plates 222 connected to the circumferential wall of the mounting hole 210 are further arranged on the mounting portion 221, so as to reinforce the structural strength of the circumferential wall of the mounting hole 210. The end of the mounting portion 221 in the second direction is provided with a mounting position for fixing the first elastic member 300. Meanwhile, the robot body 100 is provided with an abutting position 120 corresponding to the mounting position. The two ends of the first elastic member 300 in the second direction are fixed through the mounting position and the abutting position 120, so as to prevent displacement of the first elastic member 300.

[0056] The collision detection sensor is two, and the two collision detection sensors are arranged on the two sides in the first direction. Through the left and right collision detection sensors arranged on the base 220, the collision position can be obtained in real time, and the subsequent moving direction of the robot body 100 is adjusted.

[0057] For example, when the left collision detection sensor sends a collision signal, it indicates that an obstacle appears in the front left of the moving direction of the robot body 100. The robot body 100 can be remotely controlled to walk to the right to avoid the obstacle. When the right collision detection sensor sends a collision signal, it indicates that an obstacle appears in the front right of the moving direction of the robot body 100. The robot body 100 can be remotely controlled to walk to the left to avoid the obstacle.

[0058] The collision detection sensor is a Hall chip. The collision plate 230 is provided with a permanent magnet 231 corresponding to the Hall chip. The movement of the permanent magnet 231 on the collision plate 230 relative to the Hall chip changes the magnetic field signal sensed by the Hall chip, thereby generating a collision signal.

[0059] Please refer to Figure 2 In some other embodiments, the collision rod 200 is further provided with a limiting strip 240 on both sides of the base 220. The limiting strip 240 and the mounting hole 210 are located on the same side of the collision rod 200 in the second direction. The limiting strip 240 extends along the first direction. The end of the limiting strip 240 away from the base 220 has a protruding lip surface 241 extending along the second direction. The other end of the limiting strip 240 extends to the side wall of the base 220.

[0060] Please refer to Figure 6 The protruding lip surface 241 can rotate to the limit position with the base 220 relative to the column 110. In the limit position, the protruding lip surface 241 can contact the wheel 130. The wheel 130 blocks the collision rod 200 from continuing to rotate, and the protruding lip surface 241 limits the wheel 130 from continuing to rotate. The limiting strip 240 is further formed with a mounting groove for mounting and positioning the second elastic member 232.

[0061] In order to improve the contact effect of the protruding lip surface 241 and the wheel 130, the limiting strips 240 on either side of the base 220 are parallel to each other, and the adjacent protruding lip surfaces 241 are connected by the ribs 250 extending along the third direction, so that the overall structural strength of the protruding lip surface 241 is enhanced to prevent the protruding lip surface 241 from being scraped off by the wheel 130 during contact.

[0062] In addition, a robot including a robot body 100 also includes the above-mentioned anti-collision device, and also has the beneficial effects of the above-mentioned anti-collision device, which will not be repeated here.

[0063] The robot body 100 has a central axis extending along the second direction, and the anti-collision device is arranged at the front end and / or the rear end of the robot body 100, the first mounting portion and the second mounting portion are respectively located on both sides of the central axis, and the first elastic member 300 is two, which are respectively located on both sides of the central axis to maintain the balance of the anti-collision device.

[0064] The front end and the rear end of the robot body 100 are provided with wheels 130 for driving the robot body 100 to move, and the wheels 130 are located on both sides of the robot body 100, and the collision rod 200 can rotate around the stand 110 to be attached to at least one wheel 130, and the robot can be a lawn mower, and the like, which will not be repeated here.

[0065] It should be noted that in the present specification, the relationship terms such as first and second are only used to distinguish one entity from another entity, and do not necessarily require or imply any such actual relationship or order between the entities.

[0066] The embodiments in the present specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0067] The principle and implementation mode of the present application are described by using specific examples, and the above description of the embodiments is only used to help understand the method and the core idea of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the principle of the present application, the present application can be improved and modified in several ways, and these improvements and modifications also fall within the protection scope of the present application.

Claims

1. A bump protection device for fitting to a robot body (100) characterised in that, The anti-collision device comprises: a collision rod (200) provided with a first mounting portion and a second mounting portion, the first mounting portion is assembled with a first connecting portion on the robot body (100), the second mounting portion is assembled with a second connecting portion on the robot body (100), the first mounting portion is movable relative to the first connecting portion, and the second mounting portion is movable relative to the second connecting portion; a first elastic member (300) arranged between the collision rod (200) and the robot body (100) and used for driving the collision rod (200) away from the robot body (100).

2. The anti-collision device according to claim 1, wherein the first mounting portion and the second mounting portion are mounting holes (210), the first connecting portion and the second connecting portion are vertical columns (110), the vertical column (110) is movable in the corresponding mounting hole (210), and the first elastic member (300) drives the collision rod (200) away from the robot body (100) until the mounting hole (210) abuts against the corresponding vertical column (110).

3. The anti-collision device according to claim 2, wherein the collision rod (200) extends along a first direction, and the two mounting holes (210) are located on one side of the collision rod (200) in a second direction; the first elastic member (300) extends along the second direction, the first elastic member (300) is two, the two first elastic members (300) correspond to the two mounting holes (210) respectively, and the two first elastic members (300) and the two mounting holes (210) are located on the same side of the collision rod (200) in the second direction; the first direction and the second direction are perpendicular to each other.

4. The anti-collision device according to claim 3, wherein the two mounting holes (210) extend along a third direction, the two mounting holes (210) are both waist-shaped holes or elliptical holes, and the vertical column (110) can move relative to the corresponding mounting hole (210) along the long axis direction of the mounting hole (210) to enable the collision rod (200) to compress the first elastic member (300); the third direction is perpendicular to the first direction and the second direction.

5. The anti-collision device according to claim 3, wherein the collision rod (200) comprises an elastically connected base (220) and a collision plate (230), the collision plate (230) extends along the first direction, the base (220) is arranged on one side of the collision plate (230) in the second direction, the mounting hole (210) is arranged on the base (220), and the base (220) is provided with a collision detection sensor for sending a collision signal when the collision plate (230) moves relative to the base (220).

6. The anti-collision device according to claim 5, wherein the collision detection sensor is two, and the two collision detection sensors are arranged on both sides in the first direction respectively.

7. The anti-collision device according to claim 5, wherein The collision detection sensor is a Hall chip, and the collision plate (230) is provided with a permanent magnet (231) corresponding to the Hall chip.

8. The anti-collision device according to any one of claims 5 to 7, characterized in that, The collision rod (200) is further provided with a limiting strip (240) on both sides of the base (220), the limiting strip (240) and the mounting hole (210) are located on the same side of the collision rod (200) in the second direction, and the limiting strip (240) extends along the first direction.

9. The anti-collision device according to claim 8, characterized in that, The end of the limiting strip (240) away from the base (220) has a protruding lip surface (241) extending along the second direction, and the other end of the limiting strip (240) extends to the side wall of the base (220).

10. A crash avoidance device according to claim 9, characterised in that, The limiting strips (240) on either side of the base (220) are parallel to each other, and a rib (250) is connected between adjacent protruding lip surfaces (241).

11. A robot comprising a robot body (100), characterized in that The anti-collision device according to any one of claims 1 to 10.

12. The robot of claim 11, wherein, The robot body (100) has a central axis, the anti-collision device is arranged at the front end and / or the rear end of the robot body (100), the first mounting portion and the second mounting portion are located on both sides of the central axis, respectively, and the first elastic member (300) is two, and the two first elastic members (300) are located on both sides of the central axis, respectively.

13. The robot of claim 12, wherein, The front end and the rear end of the robot body (100) are provided with wheels (130) for driving the robot body (100) to move, the wheels (130) are located on both sides of the robot body (100), and the collision rod (200) can rotate around the stand (110) to be attached to at least one wheel (130).

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