Non-visual automatic protection frame device

Abstract

The utility model discloses a non-visual automatic protection frame device, and belongs to the technical field of protection technologies in the debugging and running process of a robot. The robot comprises a frame, the frame comprises an upper layer and a lower layer, the upper layer is provided with a driver, a controller and a power source, the lower layer is used as a robot activity space, and a movement mechanism is arranged at the bottom of the frame; the top of the protection mechanism is connected with the top of the frame, and the bottom of the protection mechanism penetrates through the upper layer of the frame to be connected with a robot; the controller, the driver, the protection mechanism and the movement mechanism are in communication connection; according to the utility model, the tension sensor and the horizontal sensor are ingeniously combined, so that the spatial position of the robot relative to the protective frame can be accurately sensed. By means of the innovative design, the position of the protection frame can be automatically adjusted, it is guaranteed that the robot is located in a safety protection center area all the time, and the protection effect is greatly improved.

Description

A non-visual automatic protective frame device Technical Field

[0001] This utility model relates to a non-visual automatic protective frame device, belonging to the field of protection technology during robot debugging and operation. Background Technology

[0002] With the booming development of China's robotics industry, innovative products such as humanoid robots and quadruped robots are constantly emerging. These robots all use precise servo motors to simulate the joints of humans or animals, and achieve diverse movements by accurately controlling the rotation angle of the servo motors. However, programming errors or device malfunctions frequently occur during the robot's motion programming phase, which may cause the robot to perform unexpected actions and accidentally fall to the ground. Given that robots are usually equipped with built-in batteries, the potential danger is particularly prominent when performing complex actions such as climbing stairs, especially in the event of a fall from a height. Therefore, during the robot's commissioning phase, to ensure safety, it is essential to equip the robot with a professional protective frame and install a safety rope to effectively prevent the risk of falls.

[0003] During robot testing, because the robot needs to move continuously within the testing area, a protective frame must follow closely to provide necessary protection. However, dedicated protective frame products for robots are currently scarce on the market. In practice, on-site personnel often rely on temporary, makeshift protective frames constructed from profiles and manually controlling their movement. This method has significant drawbacks: on-site personnel often need to operate the protective frame at close range, and if the robot accidentally falls, the protective frame may shake violently due to the impact, posing a direct threat to the safety of on-site personnel.

[0004] To improve the intelligence level of protective frames, some solutions have attempted to introduce visual positioning systems. However, this approach also faces multiple challenges:

[0005] 1. The implementation of visual positioning function relies on high-performance main control chip to run complex visual algorithms, which directly leads to a significant increase in hardware cost.

[0006] 2. Visual positioning relies on the robot possessing features that can be accurately identified. When the robot's appearance or structure changes, image retraining or the addition of specialized recognition points to the robot is necessary, a process that is both time-consuming and cumbersome.

[0007] 3. The stable operation of the vision system requires certain conditions of on-site light source. Insufficient light or changes in light may lead to a decrease in recognition accuracy and affect the protection effect.

[0008] 4. When a robot performs complex actions such as climbing stairs or ramps, its spatial position and height are constantly changing. Traditional 2D cameras can only identify the robot's displacement on the horizontal plane and cannot accurately sense changes in its height, thus failing to automatically adjust the length of the safety rope to provide optimal protection. While using a depth camera can solve this problem, it further increases costs.

[0009] Existing technologies still have many shortcomings in terms of automation, intelligence, and cost-effectiveness of robotic protective frames, and there is an urgent need for a more efficient, safe, and economical solution. Summary of the Invention

[0010] The purpose of this utility model is to overcome the shortcomings of the existing technology and provide a non-visual automatic protective frame device.

[0011] To achieve the above objectives / to solve the above technical problems, this utility model adopts the following technical solution:

[0012] A non-visual automatic protective frame device, comprising:

[0013] The frame comprises two layers, an upper layer housing a driver, a controller, and a power supply, and a lower layer serving as the robot's activity space. A motion mechanism is located at the bottom of the frame.

[0014] A protective mechanism, the top of which is connected to the top of the frame and the bottom of which passes through the upper layer of the frame, is used to connect the robot;

[0015] The controller, driver, protective mechanism, and motion mechanism are communicatively connected.

[0016] Optionally, the protective mechanism includes an elastic element movably connected to the top of the frame, the elastic element being connected to a fixing element, the fixing element being provided with a tension sensor and a level sensor, the tension sensor and the level sensor being electrically connected to a controller, and an electric hoist being movably connected to the bottom of the fixing element.

[0017] Optionally, the electric hoist is equipped with a safety belt at its end, which is used to connect to the robot.

[0018] Optionally, the fixing component includes an upper fixing block and a lower fixing block, wherein the upper fixing block is connected to the bottom of the elastic element, and the bottom of the lower fixing block is connected to the electric hoist.

[0019] Optionally, the tension sensor is located between the upper fixing block and the lower fixing block.

[0020] Optionally, the horizontal sensor is mounted on the lower fixed block.

[0021] Optionally, the elastic element is an elastic rope.

[0022] Optionally, the motion mechanism includes wheels and a motor, with the motor output connected to the wheels, and the wheels located at the bottom of the frame.

[0023] Optionally, the wheel is a Mecanum wheel.

[0024] Optionally, the controller may be an STM32 microcontroller.

[0025] Compared with the prior art, the beneficial effects achieved by this utility model are as follows:

[0026] This invention eliminates the need for expensive vision systems that are highly dependent on ambient light, while also avoiding the cumbersome requirement for robots to have distinctive appearance features or additional markings. This change not only reduces hardware costs but also improves the system's versatility and flexibility.

[0027] By cleverly combining a tension sensor and a level sensor, this invention can accurately sense the robot's spatial position relative to the protective frame. This innovative design allows the protective frame to automatically adjust its position, ensuring the robot is always in the central protected area, greatly improving the protective effect.

[0028] The application of tension sensors is not limited to position sensing; they can also measure the tension of the safety rope in real time and automatically adjust the rope length as needed. This automatic adjustment mechanism not only avoids the inconvenience and errors that may arise from manual control but also ensures the robot's safety and stability under various actions.

[0029] When the robot falls, the tension sensor can quickly detect the abnormally increased tension and immediately activate the braking mechanism of the electric traction rope, effectively preventing the robot from falling further and thus preventing possible serious impact and damage. This instantaneous response capability significantly improves the system's safety level.

[0030] Compared to solutions that incorporate visual recognition systems, this invention has simpler hardware requirements, significantly reduces costs, and maintains high efficiency and reliable protection. This makes the device more widely applicable in scenarios such as robot debugging and testing. Attached Figure Description

[0031] Figure 1 is a front view of the protective frame when the robot is stationary;

[0032] Figure 2 is a side view of the protective frame when the robot is stationary;

[0033] Figure 3 shows the protective architecture diagram;

[0034] Figure 4 is a partial enlarged view of the protective frame;

[0035] Figure 5 is a schematic diagram of the robot in a walking state;

[0036] Figure 6 is a schematic diagram of the robot climbing a slope;

[0037] Figure 7 is a schematic diagram of the robot being suspended in mid-air due to an anomaly;

[0038] Figure 8 is a schematic diagram of the robot's rotation state.

[0039] In the diagram: 1. Profile frame; 2. Driver; 3. Controller; 4. Power supply; 5. Safety belt; 6. Motion mechanism; 7. Elastic rope; 8. Upper fixing block; 9. Tension sensor; 10. Horizontal sensor; 11. Lower fixing block; 12. Electric hoist. Detailed Implementation

[0040] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0041] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0042] Example 1, as shown in Figure 2, a non-visual automatic protective frame device includes:

[0043] The frame 1 includes two layers, an upper layer and a lower layer. The upper layer is equipped with a driver 2, a controller 3 and a power supply 4, and the lower layer is used for the robot's activity space. The bottom of the frame 1 is equipped with a motion mechanism 6.

[0044] A protective mechanism, the top of which is connected to the top of the frame 1 and the bottom of which passes through the upper layer of the frame 1, is used to connect the robot;

[0045] The controller 3, driver 2, protective mechanism and motion mechanism 6 are communicatively connected. The protective mechanism includes an elastic element that is movably connected to the top of the frame 1. The elastic element is connected to a fixing element. The fixing element is provided with a tension sensor 9 and a horizontal sensor 10. The tension sensor 9 and the horizontal sensor 10 are electrically connected to the controller 3. An electric hoist 12 is movably connected to the bottom of the fixing element.

[0046] Controller 3 controls the extension length of the lifting rope of electric hoist 12 until the rope is taut, the elastic element (elastic rope 7) undergoes a certain degree of elastic deformation, and the value detected by tension sensor 9 is within a preset stable range. Controller 3 receives data from level sensor 10 and detects that level sensor 10 is in a horizontal state. Since the lifting rope of electric hoist 12 is taut, it can be inferred that the robot is currently located in the middle position below profile 1, and there is no need to move profile 1. Example

[0047] As shown in Figure 5, the controller 3 controls the extension length of the lifting rope of the electric hoist 12 until the rope is taut, the elastic rope 7 undergoes a certain degree of elastic deformation, and the value detected by the tension sensor 9 is within a preset stable range. The controller 3 receives data from the level sensor 10 and detects that the level sensor 10 is tilted at this time. Since the lifting rope is taut, it can be inferred that the robot is not currently in the middle position below the profile frame 1, and the profile frame 1 needs to move with the robot until the level sensor 10 returns to a horizontal state. Example

[0048] As shown in Figure 6, the controller 3 receives data from the level sensor 10 and detects a tilt at the current level sensor 10 location. Since the hoisting rope is taut, it can be inferred that the robot is not currently in the middle position below the profile frame. The profile frame 1 needs to move with the robot until the level sensor 10 returns to a horizontal state. Because the robot's spatial position continuously increases as it climbs the slope, the controller 3 needs to dynamically adjust the length of the hoisting rope extended by the electric hoist 12 until the hoisting rope remains taut, the elastic rope 7 undergoes a certain degree of elastic deformation, and the value detected by the tension sensor 9 is within a preset stable range. Example

[0049] As shown in Figure 7, when the robot malfunctions or is about to crash to the ground, the controller 3 receives data from the tension sensor 9. The tension sensor 9 detects an abnormally increased tension. The controller 3 determines that the robot is about to crash and immediately controls the electric hoist 12 to retract a short section of the hoisting rope, suspending the robot in the air for protection. Example

[0050] As shown in Figure 8, the controller 3 controls the extension length of the electric hoist 12's lifting rope until the rope is taut, the elastic rope 7 undergoes a certain degree of elastic deformation, and the value detected by the tension sensor 9 is within a preset stable range. Because the lifting rope is taut, when the robot rotates, it transmits torque, causing the horizontal sensor 10 to rotate. The controller receives the data transmitted back from the horizontal sensor 10 and controls the motion structure 6 to drive the profile frame 1 to rotate with the robot until the robot stops.

[0051] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0052] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A non-visual automatic protective frame device, characterized in that, include: The frame (1) includes two layers, an upper layer with a driver (2), a controller (3) and a power supply (4) installed on the upper layer, and a lower layer for robot activity space. The bottom of the frame (1) is provided with a motion mechanism (6). The protective mechanism is connected to the top of the frame (1) at the top and passes through the upper layer of the frame (1) at the bottom, and is used to connect the robot. The controller (3), driver (2), protective mechanism and motion mechanism (6) are connected in communication.

2. The non-visual automatic protective frame device according to claim 1, characterized in that, The protective mechanism includes an elastic element that is movably connected to the top of the frame (1). The elastic element is connected to a fixing element. The fixing element is provided with a tension sensor (9) and a horizontal sensor (10). The tension sensor (9) and the horizontal sensor (10) are electrically connected to the controller (3). An electric hoist (12) is movably connected to the bottom of the fixing element.

3. The non-visual automatic protective frame device according to claim 2, characterized in that, The electric hoist (12) is equipped with a safety belt (5) at its end, which is used to connect the robot.

4. The non-visual automatic protective frame device according to claim 2, characterized in that, The fixing component includes an upper fixing block (8) and a lower fixing block (11). The upper fixing block (8) is connected to the bottom of the elastic component, and the bottom of the lower fixing block (11) is connected to the electric hoist (12).

5. The non-visual automatic protective frame device according to claim 4, characterized in that, The tension sensor (9) is located between the upper fixing block (8) and the lower fixing block (11).

6. The non-visual automatic protective frame device according to claim 4, characterized in that, The horizontal sensor (10) is mounted on the lower fixed block (11).

7. The non-visual automatic protective frame device according to claim 4, characterized in that, The elastic element is an elastic rope (7).

8. The non-visual automatic protective frame device according to claim 1, characterized in that, The motion mechanism (6) includes a wheel and a motor, the output end of the motor is connected to the wheel, and the wheel is located at the bottom of the frame (1).

9. The non-visual automatic protective frame device according to claim 8, characterized in that, The wheel is a Mecanum wheel.

10. The non-visual automatic protective frame device according to claim 1, characterized in that, The controller (3) is an STM32 microcontroller.

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