Chassis device of anti-collision robot

Abstract

The utility model relates to the technical field of robots, in particular to an anti-collision robot chassis device which comprises a chassis body located at the bottom of a robot, a controller and a sleeve are arranged in the chassis body, a guide groove distributed in the circumferential direction is formed in the chassis body, a sliding block is arranged in the guide groove in a sliding and sleeved mode, and a first spring is welded between the sliding block and the chassis body. A connecting rod is movably installed on the sliding block, and a protection plate used for protecting the disc body is arranged on the connecting rod. The pressure sensor and the protection plates are arranged on the disc body, the disc body can be protected through the three protection plates distributed in the circumferential direction, the protection plates are gradually close to the disc body after being stressed and compressed, and then the buffering effect on the disc body is achieved; the sleeve is arranged in the disc body, when the moving rod movably abuts against the obstacle all the time, the moving rod is disconnected with the protection plate and extends into the sleeve, then the obstacle is prevented from colliding with the disc body through the protection plate, and normal operation of the robot is effectively guaranteed.

Description

TECHNICAL FIELD

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

[0002] Robot is the common name of automatic control machine, and automatic control machine includes all the mechanical simulation of human behavior or thought and simulation of other organisms, robot bottom is provided with chassis, so that chassis can support and displace robot.

[0003] According to the announcement No.CN211796254U discloses a kind of robot device of impact resistance, including robot body, the robot body outside one side is equipped with anti-collision mechanism, the anti-collision mechanism includes arc-shaped crash beam, support plate, buffer cylinder, metal elastic rod, compression spring and connecting rod;The metal elastic rod at the support plate is once buffered support to arc-shaped crash beam, and is moved inside buffer cylinder by connecting rod and compression spring, and is second buffered support to arc-shaped crash beam, and is contacted with two guide wheels and obstacles, facilitate the rotation of robot body and changes direction.

[0004] The chassis in the above file will correspond to the arc-shaped crash beam after being impacted and then buffer is realized, and the coverage area of the arc-shaped crash beam has limitations, if pet follows or operator is careless and collides with robot chassis when walking in the running process of robot, the coverage area of arc-shaped crash beam is limited, and then it is difficult to realize overall protection of chassis;Robot chassis is only buffered to arc-shaped crash beam by metal elastic rod after being stressed, and if robot encounters downhill and the like slippery ground, the pressure generated by arc-shaped crash beam will extend to chassis, so that the precision components in chassis are collided, and then the movement of robot is affected. UTILITY MODEL CONTENTS

[0005] The utility model aims at solving the problem that robot chassis is easily impacted in prior art, and provides an anti-collision robot chassis device.

[0006] In order to achieve the above object, the utility model adopts the following technical scheme:

[0007] An anti-collision robot chassis device, comprising a disc body located at the bottom of a robot, a controller and a sleeve are arranged in the disc body, a circumferentially distributed guide groove is formed in the disc body, a sliding block is slidably arranged in the guide groove, a spring one is welded between the sliding block and the disc body, a connecting rod is movably installed on the sliding block, a protection plate is arranged on the connecting rod to protect the disc body, a moving rod extending into the sleeve is slidably arranged on the protection plate, a pressure sensor electrically connected to the controller is arranged on the moving rod, and a silica gel convex sleeve is arranged on the moving rod to protect the pressure sensor.

[0008] Preferably, three rubber layers are circumferentially distributed on the disc body, and the number of sleeves is three.

[0009] Preferably, the guide groove is horizontally arranged, and the two ends of the connecting rod are respectively connected with the sliding block and the protection plate pin shaft.

[0010] Preferably, the protection plate is an arc structure matched with the disc body, the pressure sensor and the moving rod extend to one side position outside the protection plate, and the protection plate is provided with a friction surface corresponding to the moving rod.

[0011] Preferably, the sleeve slidingly sleeved with the moving end movably abutting against the moving rod is welded with a spring two between the moving end and the sleeve, the moving end is provided with a supporting rod movably abutting against the connecting rod, and the connecting rod is provided with a notch corresponding to the supporting rod.

[0012] Preferably, the spring two is horizontally welded at one side position of the moving end extending into the sleeve, the sleeve and the disc body are provided with a long hole for guiding the supporting rod, the end of the supporting rod away from the connecting rod is connected with the moving end through a pin shaft, and the sleeve is fixedly provided with a clamping plate matched with the supporting rod.

[0013] Compared with the prior art, the anti-collision robot disc device has the following advantages:

[0014] 1. The pressure sensor and the protection plate are arranged on the disc body, the pressure sensor can send a signal to the controller, thereby sending a stop running signal to the robot, and the three circumferentially distributed protection plates can protect the disc body, so that the protection plates gradually approach the disc body after being compressed under stress, thereby buffering the disc body.

[0015] 2. The sleeve is arranged in the disc body, when the moving rod always movably abuts against the obstacle, the moving rod is disconnected with the protection plate and extends into the sleeve, so that the moving rod can move the moving end, the moving end can drive the supporting rod to support the connecting rod when moving, thereby preventing the obstacle from colliding with the disc body through the protection plate, and effectively protecting the normal operation of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 The utility model provides a kind of structure schematic view of anti-collision robot disc device;

[0017] Figure 2 The utility model provides a kind of anti-collision robot disc device sectional view;

[0018] Figure 3 The utility model provides a kind of disc body of anti-collision robot disc device, and the disc body is shown in the drawing;

[0019] Figure 4 A top view of the anti-collision robot chassis device is shown in the utility model.

[0020] In the figure: 1, disc body; 2, rubber layer; 3, controller; 4, sleeve; 5, guide groove; 6, sliding block; 7, spring one; 8, protective plate; 9, connecting rod; 10, moving rod; 11, silica gel convex sleeve; 12, pressure sensor; 13, spring two; 14, moving end; 15, clamping plate; 16, notch; 17, support rod. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments.

[0022] Reference Figures 1-4 An anti-collision robot chassis device, including the disc body 1 in the robot bottom, the disc body 1 is equipped with the controller 3 and the sleeve 4, the disc body 1 is equipped with the three rubber layers 2 that distribute in circumference, and the number of sleeve 4 is three;

[0023] The disc body 1 is equipped with the guide groove 5 that distributes in circumference, and the sliding block 6 is slidably arranged in the guide groove 5, the spring one 7 is welded between the sliding block 6 and the disc body 1, the connecting rod 9 is movably installed on the sliding block 6, the guide groove 5 is horizontally set, and the both ends of the connecting rod 9 are respectively connected with the sliding block 6 and the protective plate 8 by pin shaft, the guide groove 5 realizes the guiding effect to the sliding block 6, so that the sliding block 6 can smoothly pull the protective plate 8 and the connecting rod 9 when moving, the spring one 7 realizes the reset effect to the sliding block 6, when the protective plate 8 is in the idle state, the spring one 7 can drive the protective plate 8 to return to the initial position;

[0024] The connecting rod 9 is equipped with the protective plate 8 for protecting the disc body 1, the moving rod 10 extending into the sleeve 4 is slidably arranged on the protective plate 8, the protective plate 8 is the arc structure compatible with the disc body 1, the pressure sensor 12 is arranged at the position outside the protective plate 8 where the moving rod 10 extends, the protective plate 8 and the sleeve 4 realize the guiding effect to the moving rod 10, so that the moving rod 10 can smoothly pull the pressure sensor 12 when moving;

[0025] The protective plate 8 is equipped with the friction surface corresponding to the moving rod 10, and the pressure sensor 12 electrically connected with the controller 3 is arranged on the moving rod 10, the silica gel convex sleeve 11 for protecting the pressure sensor 12 is arranged on the moving rod 10, by arranging the silica gel convex sleeve 11 for protecting the pressure sensor 12 on the moving rod 10, the direct collision between the obstacle and the pressure sensor 12 is reduced, the stress value of the pressure sensor 12 exceeds the specified threshold value after being stressed, and a signal is immediately sent to the controller 3, so that the controller 3 sends the stop running instruction to the robot.

[0026] The sleeve 4 is sleeved with a moving end 14 movably abutting against the moving rod 10, and the spring 13 is welded between the moving end 14 and the sleeve 4; the moving end 14 is provided with a supporting rod 17 movably abutting against the connecting rod 9, and the connecting rod 9 is provided with a notch 16 corresponding to the supporting rod 17;

[0027] The spring 13 is horizontally welded to a position of the moving end 14 extending into the sleeve 4; the sleeve 4 and the disc body 1 are provided with a long hole for guiding the supporting rod 17; the end of the supporting rod 17 away from the connecting rod 9 is connected to the moving end 14 through a pin shaft; and the sleeve 4 is fixedly provided with a clamping plate 15 matched with the supporting rod 17;

[0028] When the moving rod 10 is continuously stressed, the friction surface is insufficient to support the connection between the protective plate 8 and the moving rod 10, so that the protective plate 8 is disconnected from the moving rod 10, and the moving end 14 is pressed by the moving rod 10; the moving end 14 pulls the supporting rod 17 to deflect in the long hole when it is retracted, and the clamping plate 15 can limit the moving direction of the supporting rod 17, so that the supporting rod 17 can extend into the notch 16 when it is deflected, thereby supporting the stressed protective plate 8, so that the obstacle does not contact the disc body 1 when colliding with the protective plate 8, thereby protecting the precision elements in the disc body 1;

[0029] It should be noted that the specific model and specification of the controller 3 and the pressure sensor 12 need to be selected and determined according to the actual specification of the device, and the specific selection and calculation method adopts the existing technology in the art, so it is not described in detail.

[0030] The function principle of the utility model can be described by the following operation mode:

[0031] When the disc body 1 touches the obstacle during the operation of the robot;

[0032] The obstacle first contacts the silica gel convex sleeve 11, so that the silica gel convex sleeve 11 deforms after being stressed and presses the pressure sensor 12;

[0033] The pressure of the pressure sensor 12 exceeds the specified threshold after being stressed, and immediately sends an instruction to the controller 3, and the controller 3 sends a stop operation instruction to the robot;

[0034] When the robot is on a downhill, the obstacle abuts against the silica gel convex sleeve 11, and the friction surface is insufficient to support the connection between the protective plate 8 and the moving rod 10, so that the protective plate 8 is disconnected from the moving rod 10, and the moving rod 10 moves backward when it is retracted;

[0035] When the obstacle is disconnected from the pressure sensor 12, the obstacle will abut against the movable guard plate 8, the movable guard plate 8 is forced to drive the sliding block 6 to slide in the guide slot 5, the spring 7 is forced, and the movable guard plate 8 gradually approaches the disc body 1;

[0036] Meanwhile, when the moving rod 10 is retracted, the other end slides in the sleeve 4 and presses the moving end 14, the spring 2 is forced, the moving end 14 drives the supporting rod 17 to slide in the long hole and deflect, the clamping plate 15 on the sleeve 4 can abut against the supporting rod 17, the other end of the supporting rod 17 can extend into the notch 16 to support the connecting rod 9 when the supporting rod 17 is retracted and deflected, and the movable guard plate 8 can always protect the disc body 1.

[0037] The above is only the preferred specific implementation of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A crash-avoiding robot chassis arrangement comprising a disc (1) at the bottom of the robot, characterized in that, The disc body (1) is internally provided with a controller (3) and a sleeve (4), the disc body (1) is internally provided with circumferentially distributed guide grooves (5), and the guide grooves (5) are slidably provided with sliding blocks (6), the sliding blocks (6) and the disc body (1) are welded with springs (7), the sliding blocks (6) are movably provided with connecting rods (9), and the connecting rods (9) are provided with protective plates (8) for protecting the disc body (1), the protective plates (8) are slidably provided with moving rods (10) extending into the sleeve (4), and the moving rods (10) are provided with pressure sensors (12) electrically connected with the controller (3), and the moving rods (10) are provided with silica gel convex sleeves (11) for protecting the pressure sensors (12).

2. A crash-avoiding robot chassis apparatus according to claim 1, wherein, The disc body (1) is provided with three circumferentially distributed rubber layers (2), and the number of the sleeve (4) is three.

3. The crash-avoiding robot chassis apparatus of claim 1, wherein, The guide grooves (5) are horizontally provided, and the two ends of the connecting rod (9) are respectively connected with the sliding block (6) and the protective plate (8) by a pin shaft.

4. The crashworthy robotic chassis apparatus of claim 1, wherein, The protective plate (8) is an arc-shaped structure matched with the disc body (1), the pressure sensor (12) and the moving rod (10) extend to one side position outside the protective plate (8), and the protective plate (8) is provided with a friction surface corresponding to the moving rod (10).

5. The crashworthy robotic chassis apparatus of claim 1, wherein, The sleeve (4) is slidably provided with a moving end (14) movably abutting against the moving rod (10), and the moving end (14) and the sleeve (4) are welded with springs (13), the moving end (14) is provided with a supporting rod (17) movably abutting against the connecting rod (9), and the connecting rod (9) is provided with notches (16) corresponding to the supporting rod (17).

6. A crash-avoiding robot chassis apparatus according to claim 5, wherein, The spring (13) is horizontally welded at one side position of the moving end (14) extending into the sleeve (4), the sleeve (4) and the disc body (1) are provided with long holes for guiding the supporting rod (17), one end of the supporting rod (17) away from the connecting rod (9) is connected with the moving end (14) by a pin shaft, and the sleeve (4) is fixedly provided with a clamping plate (15) matched with the supporting rod (17).

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