Anti-collision robot

Abstract

The utility model relates to the field of robots, and discloses an anti-collision robot which comprises a robot body, an anti-collision device is arranged outside the robot body, the anti-collision device comprises a mounting plate, the inner arc surface of the mounting plate is fixedly connected with the outer wall of the robot body, a buffer assembly is arranged on the outer side of the mounting plate, and the inner arc surface of the mounting plate is fixedly connected with the outer wall of the robot body. An upward moving assembly is arranged in the mounting plate, the upward moving assembly comprises an air pressure pipe, the outer wall of the air pressure pipe penetrates through and is fixedly connected with the inner wall of the mounting plate, a piston on the inner wall of the air pressure pipe is connected with a push strip, and the bottom end of the push strip is fixedly connected with a connecting ring. According to the utility model, through the arrangement of the upward moving assembly, when the robot collides with an obstacle at a relatively high speed, the robot can be moved upwards through the impact force, and the bottom moving workpiece idles, so that enough steering time is provided for the sensor and the controller; the effect of preventing the robot from colliding with the obstacle due to response lag of the sensor and the controller is achieved.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a collision-avoidance robot. Background Technology

[0002] Robotic vacuum cleaners, also known as automatic cleaning machines, smart vacuums, or robotic vacuums, are a type of smart home appliance. They utilize artificial intelligence to automatically clean floors throughout a room.

[0003] When a robotic vacuum cleaner is working, it needs to move freely indoors, inevitably encountering various furniture and obstacles. Without collision avoidance features, the robot might directly collide with furniture, causing wear or damage. To achieve collision avoidance, robotic vacuum cleaners are typically equipped with multiple sensors, such as photoelectric sensors, ultrasonic sensors, and infrared sensors. These sensors can monitor the distance between the robot and obstacles in real time and trigger collision avoidance mechanisms when necessary. For example, when the robot encounters an obstacle, the photoelectric sensor receives the obstacle's signal and transmits it to the control system. The control system then makes a judgment based on the signal and controls the robot's direction to avoid a collision.

[0004] Currently, while existing robots can automatically identify and steer when approaching obstacles to avoid collisions, in actual use, debris often remains on the mop after cleaning an area, affecting cleaning effectiveness. To speed up cleaning, users often set the robot's speed to maximum when moving from the cleaning location to the cleaning area. Since the robot is controlled by sensors and a controller, it requires a certain reaction time to turn when encountering obstacles. Therefore, when the robot moves at a high speed, there is a risk of collision due to slow turning speed. To address this issue, a collision-avoidance robot is proposed. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a collision-avoidance robot, which aims to improve the problem in the prior art where robots are prone to collisions with obstacles due to the lag in the response of sensors and controllers when moving at high speeds.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a collision-resistant robot, comprising a robot body, an anti-collision device provided on the outside of the robot body, the anti-collision device including a mounting plate, the inner arc surface of the mounting plate being fixedly connected to the outer wall of the robot body, a buffer assembly provided on the outer side of the mounting plate, and an upward moving assembly provided inside the mounting plate, the upward moving assembly including a pneumatic pipe, the outer wall of the pneumatic pipe penetrating and fixedly connected to the inner wall of the mounting plate, a push bar piston-connected to the inner wall of the pneumatic pipe, a connecting ring fixedly connected to the bottom end of the push bar, a support bar fixedly connected to the bottom end of the connecting ring, a piston plate piston-connected to the inner wall of the pneumatic pipe, the end of the piston plate near the robot body being elastically connected to the inner wall of the pneumatic pipe by a spring, a pushing block slidably connected to the inner wall of the pneumatic pipe, and the end of the pushing block away from the robot body being fixedly connected to the inner arc surface of the outer plate.

[0007] As a further description of the above technical solution:

[0008] The buffer assembly includes a movable groove formed on the outer arc surface of the mounting plate. A slider is slidably connected to the inner wall of the movable groove. A connecting rod is hinged to the end of the slider away from the robot body. An outer plate is hinged to the end of the connecting rod away from the slider. An arc-shaped tube is fixedly connected to the inner wall of the movable groove. An arc-shaped strip is slidably connected to the inner wall of the arc-shaped tube. The outer wall of the arc-shaped strip is fixedly connected to the end of the slider near the arc-shaped tube. The end of the arc-shaped strip away from the slider is elastically connected to the inner wall of the arc-shaped tube through an arc-shaped spring.

[0009] As a further description of the above technical solution:

[0010] The inner wall of the pneumatic tube is fixedly connected to a limiting piece one, and the inner wall of the pneumatic tube on the side of the limiting piece one closer to the robot body is fixedly connected to a limiting piece two.

[0011] As a further description of the above technical solution:

[0012] The air pressure pipe has ventilation holes on the inner wall of the limiting plate on the side away from the robot body.

[0013] As a further description of the above technical solution:

[0014] The outer plate has a rolling ball inside, and the outer arc surface of the mounting plate has a groove that matches the shape of the rolling ball, with the volume of the rolling ball inside the groove exceeding one-half.

[0015] As a further description of the above technical solution:

[0016] The air pressure pipe is L-shaped, and the diameter of the horizontal region of the air pressure pipe is larger than the diameter of the vertical region.

[0017] As a further description of the above technical solution:

[0018] The mounting plate is arc-shaped, and the number of mounting plates is set to multiple, with the multiple mounting plates arranged in a circular array around the center of the robot body.

[0019] As a further description of the above technical solution:

[0020] The outer wall of the pusher is in contact with the inner wall of the air pressure tube, and the pusher can move up and down while maintaining contact with the inner wall of the air pressure tube.

[0021] This utility model has the following beneficial effects:

[0022] 1. In this utility model, by setting up a pneumatic pipe, push bar, connecting ring, support bar, piston plate, spring, and push block, it is ensured that when the robot hits an obstacle at a relatively high speed, the impact force can cause the robot to move upward, while the bottom moving workpiece rotates freely, providing sufficient turning time for the sensor and controller, thereby preventing the robot from hitting the obstacle due to the lag in the response of the sensor and controller.

[0023] 2. In this utility model, by setting up a moving groove, slider, connecting rod, outer plate, arc tube, arc strip, and arc spring, the robot can be made to move against the obstacle before it comes into contact with it, but when it approaches the obstacle, the movement can be hindered by the buffer force, thereby slowing down the robot's speed and achieving the effect of reducing the impact force of the robot. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural diagram of the overall structure of this utility model;

[0025] Figure 2 This is a three-dimensional cross-sectional view of the overall structure of this utility model;

[0026] Figure 3 In this utility model Figure 2 Enlarged schematic diagram of the three-dimensional structure of part A in the middle;

[0027] Figure 4 In this utility model Figure 3 Enlarged schematic diagram of the three-dimensional structure of part B;

[0028] Figure 5 This is a top sectional view of the overall structure of this utility model.

[0029] Figure 6 This is a three-dimensional structural diagram of a single anti-collision device in this utility model;

[0030] Figure 7This is a three-dimensional cross-sectional view of a single anti-collision device in this utility model.

[0031] Legend:

[0032] 1. Robot body; 2. Anti-collision device; 21. Mounting plate; 22. Buffer assembly; 23. Upward moving assembly; 24. Rolling ball; 221. Moving groove; 222. Slider; 223. Connecting rod; 224. Outer plate; 225. Arc tube; 226. Arc strip; 227. Arc spring; 231. Pneumatic pipe; 232. Push bar; 233. Connecting ring; 234. Support bar; 235. Piston plate; 236. Spring; 237. Push block; 238. Limiting plate one; 239. Limiting plate two; 2310. Ventilation hole. Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0034] Reference Figure 1 , Figure 2 and Figure 5 This utility model provides an embodiment of an anti-collision robot, including a robot body 1, which is a sweeping robot. The robot body 1 has a sensor inside for detecting the distance between the robot and obstacles. The sensor transmits signals to a controller, which then turns the robot. This technology is currently known to those skilled in the art and will not be described in detail here. An anti-collision device 2 is provided on the outside of the robot body 1. The anti-collision device 2 includes a mounting plate 21, which is arc-shaped. Multiple mounting plates 21 are arranged circumferentially around the center of the robot body 1. The arrangement of multiple mounting plates 21 ensures that the outer wall of the robot body 1 in different directions receives anti-collision protection. The inner arc surface of the mounting plate 21 is fixedly connected to the outer wall of the robot body 1.

[0035] Reference Figure 3 , Figure 5 and Figure 7A buffer assembly 22 is provided on the outer side of the mounting plate 21. The buffer assembly 22 includes a moving groove 221, which is formed on the outer arc surface of the mounting plate 21. A slider 222 is slidably connected to the inner wall of the moving groove 221. The sliding trajectory of the slider 222 is arc-shaped, and the inner side of the slider 222 is arc-shaped with the same curvature as the inner wall of the moving groove 221, while the outer side is arc-shaped with the same curvature as the outer arc surface of the mounting plate 21. A connecting rod 223 is hinged to the end of the slider 222 away from the robot body 1. The connecting rod 223 is made of rigid material. An outer plate 224 is hinged to the end away from the slider 222. A rolling ball 24 is disposed inside the outer plate 224. A groove with a shape that matches the shape of the rolling ball 24 is opened on the outer arc surface of the outer plate 224, and the volume of the rolling ball 24 inside the groove is more than half. By setting more than half, it is ensured that the rolling ball 24 cannot fall out of the outer plate 224. The rolling ball 24 itself is not connected to the outer plate 224, but is limited by the groove opened on the outer wall of the outer plate 224, so that the rolling ball 24 is inside the outer plate 224.

[0036] Reference Figure 3 , Figure 5 and Figure 7 An arc-shaped tube 225 is fixedly connected to the inner wall of the moving groove 221. The arc of the arc-shaped tube 225 is consistent with the arc of the moving groove 221. An arc-shaped strip 226 is slidably connected to the inner wall of the arc-shaped tube 225. The arc of the arc-shaped strip 226 is consistent with the arc of the arc-shaped tube 225. By setting the consistent arc, it is ensured that the arc-shaped strip 226 can slide in an arc trajectory inside the arc-shaped tube 225. The outer wall of the arc-shaped strip 226 is fixedly connected to the end of the slider 222 near the arc-shaped tube 225. The end of the arc-shaped strip 226 away from the slider 222 is elastically connected to the inner wall of the arc-shaped tube 225 through an arc-shaped spring piece 227. One end of the arc-shaped spring piece 227 is fixedly connected to the end of the arc-shaped strip 226 away from the slider 222, and the other end of the arc-shaped spring piece 227 is fixedly connected to the inner wall of the arc-shaped tube 225.

[0037] Reference Figure 3 , Figure 4 and Figure 6The mounting plate 21 has an internal upward-moving assembly 23, which includes an air pressure pipe 231. The air pressure pipe 231 is L-shaped, and the diameter of the horizontal region of the air pressure pipe 231 is larger than the diameter of the vertical region. This diameter difference ensures that the amount of air corresponding to the shorter length in the horizontal region of the air pressure pipe 231 is consistent with the amount of air corresponding to the longer length in the vertical region. The outer wall of the air pressure pipe 231 penetrates and is fixedly connected to the inner wall of the mounting plate 21. A pusher 232 is piston-connected to the inner wall of the air pressure pipe 231. The outer wall of the pusher 232 is in contact with the inner wall of the air pressure pipe 231, and the pusher 232 maintains contact with the inner wall of the air pressure pipe 231. The push bar 232 moves up and down in a closed manner to ensure airtightness during movement. A connecting ring 233 is fixedly connected to the bottom end of the push bar 232. The connecting ring 233 is located on the outside of the robot body 1. A support bar 234 is fixedly connected to the bottom end of the connecting ring 233. A piston plate 235 is connected to the inner wall of the air pressure pipe 231. The end of the piston plate 235 near the robot body 1 is elastically connected to the inner wall of the air pressure pipe 231 by a spring 236. One end of the spring 236 is fixedly connected to the end of the piston plate 235 near the robot body 1, and the other end of the spring 236 is fixedly connected to the inner wall of the air pressure pipe 231.

[0038] Reference Figure 3 , Figure 4 and Figure 6 A push block 237 is slidably connected to the inner wall of the pneumatic pipe 231. The end of the push block 237 away from the robot body 1 is fixedly connected to the inner arc surface of the outer plate 224. A limiting piece 238 is fixedly connected to the inner wall of the pneumatic pipe 231. The limiting piece 238 is annular. A limiting piece 239 is fixedly connected to the inner wall of the pneumatic pipe 231 on the side of the limiting piece 238 close to the robot body 1. The limiting piece 239 is annular and is located at the position where the horizontal area of ​​the pneumatic pipe 231 does not intersect with the vertical area. A ventilation hole 2310 is provided on the inner wall of the pneumatic pipe 231 on the side of the limiting piece 238 away from the robot body 1. The ventilation hole 2310 ensures that when the push block 237 is not in contact with the piston plate 235, it will not push the piston plate 235 by air pressure due to the airtightness inside the pneumatic pipe 231.

[0039] Working principle: When the robot body 1 moves quickly toward the obstacle, after the outer wall of the outer plate 224 comes into contact with the obstacle, the outer plate 224 cannot move. At this time, as the robot body 1 continues to move, the outer plate 224 moves toward the robot body 1 relative to the mounting plate 21.

[0040] During the movement, the outer plate 224 drives the connecting rod 223 to move towards the robot body 1, thereby shortening the projection length of the connecting rod 223 in the direction of the line connecting the midpoint of the outer plate 224 and the midpoint of the robot body 1, and thus lengthening the projection length of the connecting rod 223 in the direction perpendicular to this direction. Therefore, the connecting rod 223 drives the slider 222 to move in the direction of squeezing the arc strip 226, thereby allowing the arc strip 226 to enter the arc tube 225, and squeezing the arc spring 227 during the entry process to form a buffer effect.

[0041] Because a buffering effect is created during the movement of robot body 1, the resistance to the movement of robot body 1 increases, thus slowing down the movement speed of robot body 1. This ensures that the impact force of robot body 1 is reduced. At the same time, the slower movement speed of robot body 1 increases the reaction time of sensors and controllers, ensuring that the robot can turn in time to avoid collisions.

[0042] If robot body 1 fails to turn in time and continues to move in that direction.

[0043] Then the outer wall 224 continues to be compressed, and when the outer plate moves relative to the mounting plate 21 toward the robot body 1, it also drives the push block 237 to move synchronously with it. Therefore, when the push block 237 moves to contact the piston plate 235, it pushes the piston plate 235, thereby causing the piston plate 235 to push the gas in the horizontal region of the air pressure pipe 231 to the vertical region.

[0044] As the gas volume increases in the vertical region of the pneumatic tube 231, the push bar 232 moves downward under the action of the pneumatic pressure, pushing the connecting ring 233 and the support bar 234 downward.

[0045] Since the robot body 1 is on the ground and the support bar 234 has no space to move downwards, the robot body 1 moves upwards relative to the support bar 234 under the action of the reaction force. The bottom of the robot body 1 separates from the ground. Since the workpiece that drives the robot body 1 to move is set below it, the robot body 1 cannot move at this time. Therefore, the robot body 1 can unload the force before the impact. In this process, the sensor and controller have enough time to drive the robot body 1 to rotate.

[0046] When the robot body 1 separates from the ground, since the outer plate 224 on the outside of the robot body 1 can no longer squeeze against the obstruction, the spring 236, under the action of elastic force, drives the air pressure pipe 231, the mounting plate 21, and the robot body 1 connected to it to generate a reverse force.

[0047] When the robot body 1 moves in the opposite direction, the piston plate 235 also moves towards the outer plate 224 relative to the air pressure pipe 231. Therefore, the push bar 232 moves slowly upward relative to the robot body 1. Because the robot body 1 is subject to gravity, it moves slowly downward after it is no longer supported at the bottom. Thus, the robot body 1 can return to the state of contact with the ground and can move to the required position by itself after turning.

[0048] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A collision avoidance robot, comprising a robot body (1), characterized in that: The robot body (1) is provided with an anti-collision device (2) on its exterior. The anti-collision device (2) includes a mounting plate (21). The inner arc surface of the mounting plate (21) is fixedly connected to the outer wall of the robot body (1). A buffer assembly (22) is provided on the outer side of the mounting plate (21). An upward moving assembly (23) is provided inside the mounting plate (21). The upward moving component (23) includes a pneumatic tube (231), the outer wall of which is penetrated and fixedly connected to the inner wall of the mounting plate (21). The inner wall of the pneumatic tube (231) is piston-connected to a push bar (232). The bottom end of the push bar (232) is fixedly connected to a connecting ring (233). The bottom end of the connecting ring (233) is fixedly connected to a support bar (234). The inner wall of the pneumatic tube (231) is piston-connected to a piston plate (235). The end of the piston plate (235) near the robot body (1) is elastically connected to the inner wall of the pneumatic tube (231) by a spring (236). The inner wall of the pneumatic tube (231) is slidably connected to a push block (237). The end of the push block (237) away from the robot body (1) is fixedly connected to the inner arc surface of the outer plate (224).

2. The collision-avoiding robot according to claim 1, wherein: The buffer assembly (22) includes a moving groove (221), which is formed on the outer arc surface of the mounting plate (21). A slider (222) is slidably connected to the inner wall of the moving groove (221). A connecting rod (223) is hinged to the end of the slider (222) away from the robot body (1). An outer plate (224) is hinged to the end of the connecting rod (223) away from the slider (222). An arc-shaped tube (225) is fixedly connected to the inner wall of the moving groove (221). An arc-shaped strip (226) is slidably connected to the inner wall of the arc-shaped tube (225). The outer wall of the arc-shaped strip (226) is fixedly connected to the end of the slider (222) near the arc-shaped tube (225). The end of the arc-shaped strip (226) away from the slider (222) is elastically connected to the inner wall of the arc-shaped tube (225) through an arc-shaped spring piece (227).

3. The crashworthy robot of claim 1, wherein: The inner wall of the pneumatic tube (231) is fixedly connected to a limiting piece one (238), and the inner wall of the pneumatic tube (231) on the side of the limiting piece one (238) close to the robot body (1) is fixedly connected to a limiting piece two (239).

4. The crashworthy robot of claim 3, wherein: The air pressure pipe (231) has a ventilation hole (2310) on the inner wall of the side of the limiting piece (238) away from the robot body (1).

5. The crashworthy robot of claim 1, wherein: The outer plate (224) is provided with a rolling ball (24) inside. The outer arc surface of the mounting plate (21) is provided with a groove whose shape matches the shape of the rolling ball (24), and the volume of the rolling ball (24) in the groove exceeds one-half.

6. The crashworthy robot of claim 1, wherein: The air pressure pipe (231) is L-shaped, and the diameter of the horizontal region of the air pressure pipe (231) is larger than the diameter of the vertical region.

7. The crashworthy robot of claim 1, wherein: The mounting plate (21) is arc-shaped, and the number of mounting plates (21) is set to multiple, and the multiple mounting plates (21) are arranged in a circular array with the center of the robot body (1) as the array center.

8. The crashworthy robot of claim 1, wherein: The outer wall of the push bar (232) is in contact with the inner wall of the air pressure tube (231), and the push bar (232) can move up and down while keeping in contact with the inner wall of the air pressure tube (231).

Images