Collision detection device and robot

Abstract

The utility model provides a collision detection device and a robot, and the collision detection device comprises a flexible cylinder which is provided with a containing space, the axial size of the flexible cylinder is kept unchanged in a pressed state, and the side wall of the flexible cylinder can be elastically bent and deformed; the flexible part is located in the containing space and comprises a connector and a detection head, the connector and the detection head are oppositely arranged in the axial direction of the flexible cylinder, the connector is connected with the first side of the flexible cylinder, and the connector is used for synchronously moving along with the first side of the flexible cylinder when the flexible cylinder is bent and deformed and driving the detection head to synchronously move or generate a moving trend; and the collision detection piece is arranged on the second side of the flexible cylinder, and the collision detection piece is used for being matched with the detection head to detect whether collision occurs or not. According to the collision detection device and the robot, collision detection of the robot in multiple directions can be achieved through one collision detection device, and the situation of configuration redundancy on the robot can be improved.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a collision detection device and a robot. Background Technology

[0002] Currently, functional robots can move on the ground and perform tasks according to their functions while moving. For example, a lawnmower robot can move on the ground and mow the lawn. These robots need to be equipped with collision detection devices to detect collisions with obstacles during movement, allowing the robot to adjust its course after a collision. Since the location of obstacles is unpredictable, multiple collision detection devices need to be installed on the robot to achieve collision detection in multiple directions, resulting in redundancy in the robot's configuration. Utility Model Content

[0003] In view of the above, it is necessary to provide a collision detection device and robot to solve the above-mentioned defects.

[0004] In a first aspect, embodiments of this application provide a collision detection device, comprising: a flexible cylinder having an accommodating space therein, the axial dimension of the flexible cylinder remaining constant under pressure, and the sidewalls of the flexible cylinder being elastically bendable and deformable, the flexible cylinder having a first side and a second side opposite to each other in the axial direction; a flexible member located within the accommodating space, the flexible member including a connector and a detection head, the connector and the detection head being disposed opposite to each other in the axial direction of the flexible cylinder, the connector being connected to the first side of the flexible cylinder, the connector being used to move synchronously with the first side of the flexible cylinder when the flexible cylinder bends and deforms, and to drive the detection head to move synchronously or generate a tendency to move; and a collision detection element disposed on the second side of the flexible cylinder, the collision detection element being used to cooperate with the detection head to detect whether a collision has occurred.

[0005] Optionally, the flexible cylinder includes: a collision head located on the first side of the flexible cylinder and connected to a connector; a fixed seat located on the second side of the flexible cylinder, on which a collision detection component is disposed; and a flexible sleeve, on which the first and second sides are respectively connected to the collision head and the fixed seat. The flexible sleeve, the collision head, and the fixed seat surround and form an accommodating space. The axial dimension of the flexible sleeve remains unchanged under pressure, and the sidewall of the flexible sleeve can be elastically bent and deformed.

[0006] Optionally, a first annular groove is formed on the periphery of the collision head, and a first side of the flexible sleeve is disposed in the first annular groove and connected to the first annular groove; a second annular groove is formed on the periphery of the fixing seat, and a second side of the flexible sleeve is disposed in the second annular groove and connected to the second annular groove.

[0007] Optionally, the collision head has a first receiving groove, and the connector is located in the first receiving groove.

[0008] Optionally, a second receiving groove is provided on the first side of the fixed base, and the detection head is disposed in the second receiving groove.

[0009] Optionally, the mounting base has a mounting slot located on the side of the second receiving slot away from the collision head and connected to the second receiving slot, and the collision detection component is located in the mounting slot.

[0010] Optionally, the flexible component further includes: a flexible tie rod, which is connected between the connector and the detection head. The connector is used to pull the flexible tie rod to drive the detection head to move synchronously or generate a movement tendency. The flexible tie rod is used to elastically bend and deform synchronously with the flexible sleeve.

[0011] Optionally, the detection head is movably connected to the second side of the flexible cylinder in the axial direction, and the collision detection element is arranged adjacent to the detection head. The collision detection element is used to detect the displacement change between the detection head and the collision detection element.

[0012] Optionally, the detection head is connected to a collision detection component, which is used to detect changes in the tension exerted by the detection head on the collision detection component.

[0013] Secondly, embodiments of this application provide a robot, including: a vehicle body; a movable device movably disposed on the vehicle body, the movable device being used to move relative to the vehicle body when subjected to a collision; and a collision detection device as described above, wherein a first side of a flexible cylinder of the collision detection device is connected to the movable device and a second side is connected to the vehicle body, the collision detection device being used to detect the movement of the movable device.

[0014] With the collision detection device and robot provided in this application, when the first side of the flexible cylinder is subjected to a force applied in any direction on a preset plane, the first side of the flexible cylinder can move synchronously with the connector, causing the flexible cylinder to deform, and the connector pulls the detection head to move or generate a movement tendency. The collision detection component can determine whether the collision detection device is subjected to an external force by detecting the movement or movement tendency of the detection head, that is, determine whether the robot collides with an obstacle.

[0015] In this way, a single collision detection device can detect forces in multiple directions, enabling the robot to detect collisions in multiple directions. This reduces the number of collision detection devices that need to be installed on the robot and improves the redundancy of the robot's configuration. Attached Figure Description

[0016] Figure 1 This is a first schematic diagram of the robot in an embodiment of this application.

[0017] Figure 2 This is a second schematic diagram of the robot in an embodiment of this application.

[0018] Figure 3This is a schematic diagram of the collision detection device in the embodiments of this application.

[0019] Figure 4 This is a first structural disassembly diagram of the collision detection device in the embodiments of this application.

[0020] Figure 5 This is a disassembled diagram of the second structure of the collision detection device in the embodiments of this application.

[0021] Figure 6 This is a cross-sectional view of the collision detection device in the embodiments of this application.

[0022] Figure 7 This is a schematic diagram of the collision detection device in the embodiments of this application before the robot collides with an obstacle.

[0023] Figure 8 This is a schematic diagram of the collision detection device in the embodiments of this application after the robot collides with an obstacle.

[0024] Explanation of key component symbols:

[0025] 100. Robot; 101. Vehicle body; 102. Movable device; 103. Collision detection device; 10. Flexible cylinder; 11. Collision head; 111. First receiving groove; 112. First annular groove; 12. Fixing seat; 121. Second receiving groove; 122. Mounting groove; 123. Second annular groove; 13. Flexible sleeve; 14. Receiving space; 20. Flexible component; 21. Connector; 22. Detection head; 23. Flexible tie rod; 30. Collision detection component. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments.

[0027] The term "multiple" in this application refers to two or more. Furthermore, it should be understood that the terms "first," "second," etc., used in the description of this application are used only for descriptive purposes and should not be construed as indicating or implying relative importance, nor as indicating or implying order.

[0028] In the description of the embodiments in this application, the words "exemplary" or "for example" are used to indicate that they are examples, illustrations, or descriptions. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0029] Please see Figure 1, Figure 1 An embodiment of this application provides a robot 100.

[0030] In embodiments of this application, the robot 100 can travel on the ground. The robot 100 may include a body 101 and a moving device 102. The body 101 can move on the ground. The moving device 102 is movably connected to the body 101. When the moving device 102 is hit by an external obstacle, it can move relative to the body 101, and the direction of movement can be from the obstacle toward the robot 100.

[0031] In the embodiments of this application, the type of robot 100 is not specifically limited. For example, robot 100 may be, but is not limited to, a lawnmower robot 100, a snowplow robot 100, or a transport robot 100, etc.

[0032] In the embodiments of this application, the method by which the robot 100 moves on the ground is not specifically limited. For example, the vehicle body 101 may be equipped with a tracked or wheeled driving device, enabling the robot 100 to move on the ground. As another example, the vehicle body 101 may be equipped with mechanical legs, and the robot 100 may be a legged robot 100, which can move on the ground through the coordinated movement of multiple mechanical legs.

[0033] In the embodiments of this application, the functions implemented in robot 100 are not specifically limited. For example, such as Figure 1 As shown, the movable device 102 can be a collision device for the robot 100. The movable device 102 can be located at the front and / or rear of the vehicle body 101 and extend out of the front and / or rear of the vehicle body 101. The movable device 102 can move after colliding with an obstacle, so that the vehicle body 101 can adjust its travel route and avoid damage to the vehicle body 101 from colliding with the obstacle.

[0034] Please refer to the following: Figure 2 For example, such as Figure 2 As shown, the movable device 102 can be at least part of the shell on the top of the robot 100. The movable device 102 can extend along the direction of travel of the robot 100 and extend out of the body 101. The movable device 102 can move after colliding with an obstacle and buffer the impact.

[0035] It is understood that the moving device 102 has the function of moving relative to the vehicle body 101 in multiple directions, and the relative positional relationship between the obstacle and the robot 100 can affect the specific moving direction of the moving device 102.

[0036] In embodiments of this application, the robot 100 may further include a collision detection device 103. The collision detection device 103 may be fixedly connected to the movable device 102 and the vehicle body 101. The collision detection device 103 can detect whether the robot 100 is being collided with an obstacle by detecting the movement of the movable device 102 in multiple directions.

[0037] It is understandable that the planes containing the length and width directions of robot 100 can be defined as preset planes. However, when each robot 100 is squared on a horizontal ground, the preset plane can be a horizontal plane parallel to the ground. The height direction of robot 100 is perpendicular to the preset plane; obstacles can be located in any direction of robot 100 on the preset plane, so that after the movable device 102 collides with the obstacle, the collision can occur in any direction on the preset plane; the collision detection device 103 can detect the movement of movable device 102 in multiple directions on the preset plane, thereby detecting the collision between the robot 100 and obstacles located in any direction of robot 100.

[0038] It is understood that the collision detection device 103 can be vertically installed in the robot 100, meaning that the length direction of the collision detection device 103 can coincide with the height direction of the robot 100. The length direction of the collision detection device 103 can be defined as a preset direction, which can be perpendicular to a preset plane. For example, the preset direction could be... Figure 1 and Figure 2 The X direction and its opposite direction are shown.

[0039] The preset direction can have a first side and a second side that are set relatively opposite to each other. For example, Figure 1 and Figure 2 The side facing in the X direction is the first side, and the side facing away in the X direction is the second side.

[0040] Please refer to the following: Figures 3 to 5 In one embodiment, the collision detection device 103 may include a flexible cylinder 10, a flexible element 20, and a collision detection element 30.

[0041] The flexible cylinder 10 is a cylindrical shape. The axial direction of the flexible cylinder 10 coincides with a preset direction. The axial dimension of the flexible cylinder 10 remains unchanged under pressure, and the sidewalls of the flexible cylinder 10 can elastically deform. Thus, when the flexible cylinder 10 is subjected to pressure applied along its preset direction, it can maintain its original shape, and when the flexible cylinder 10 is subjected to pressure applied in any direction perpendicular to the preset direction, it can bend and deform.

[0042] The flexible cylinder 10 may include a collision head 11, a fixing seat 12, and a flexible sleeve 13. The collision head 11 and the fixing seat 12 are spaced apart in a preset direction. The length direction of the flexible cylinder 10 coincides with the preset direction. The collision head 11 and the fixing seat 12 are located on the first and second sides of the flexible cylinder 10, respectively. The two ends of the flexible sleeve 13 can be fixedly connected to the collision head 11 and the fixing seat 12, respectively. The collision head 11 and the fixing seat 12 can respectively close the space formed by the flexible sleeve 13 from both ends, thereby cooperating with the flexible sleeve 13 to form an accommodating space 14. The axial direction of the flexible sleeve 13 coincides with the preset direction. The flexible sleeve 13 is made of elastic material, and the axial dimension of the flexible sleeve 13 remains unchanged under pressure. The sidewall of the flexible sleeve 13 can elastically deform, that is, the flexible sleeve 13 can elastically bend and deform along the corresponding direction under the action of an external force perpendicular to the preset direction. The collision head 11 can be fixedly installed on the movable device 102, and the fixing seat 12 can be fixedly installed on the vehicle body 101.

[0043] The cross-section of each part of the flexible component 20 can be circular. The flexible component 20 may include a connector 21, a detection head 22, and a flexible tie rod 23. The connector 21 can be fixedly connected to the impact head 11 and can move synchronously with the movement of the impact head 11. The detection head 22 can be connected to the fixed base 12. The flexible tie rod 23 can be located between the connector 21 and the detection head 22 and is fixedly connected to both the connector 21 and the detection head 22. The flexible tie rod 23 can be housed within the receiving space 14 and is spaced apart from the flexible sleeve 13. The flexible tie rod 23 is made of elastic material, and under the action of external force, the flexible component 20 can elastically bend and deform in a direction perpendicular to a preset direction.

[0044] The collision detection component 30 can be fixedly installed on the mounting base 12. The collision detection component 30 can detect the movement or movement trend of the detection head 22, thereby cooperating with the detection head 22 to detect whether the robot 100 has been collided with.

[0045] It is understood that when the movable device 102 collides with an obstacle, the movable device 102 moves relative to the vehicle body 101, causing the collision head 11 to move relative to the flexible sleeve 13. At this time, the flexible sleeve 13 bends with the movement of the collision head 11, and the side of the flexible sleeve 13 facing the direction of movement of the movable device 102 is compressed, while the side facing away from the direction of movement of the movable device 102 is stretched. At this time, the flexible sleeve 13 remains sleeved on the outside of the flexible tie rod 23, and the connector 21 can move synchronously with the collision head 11. Under the traction of the connector 21, the flexible tie rod 23 can bend, and the bending direction can be the same as the bending direction of the flexible sleeve 13. The connector 21 can pull the detection head 22 to move or generate a movement tendency through the flexible tie rod 23. The collision detection component 30 detects the movement or movement trend of the connector 21, thereby detecting whether the flexible component 20 has deformed and whether the connector 21 has moved, and thus detecting whether the collision head 11 moves synchronously with the moving device 102, that is, detecting whether the robot 100 collides with the obstacle.

[0046] When the flexible cylinder 10 is subjected to an external force and bends, the direction of the force applied to it, or the direction of at least one component of the force, can lie on a preset plane. Therefore, the flexible cylinder 10 can bend regardless of which direction the force applied to it is in on the preset plane, so that the collision detection device 30 can detect collisions to the robot 100 regardless of which direction the robot 100 is subjected to. In this way, a single collision detection device 103 can detect collisions to the robot 100 in multiple directions during its movement, reducing the number of collision detection devices 103 required in the robot 100 and improving the redundancy of the robot 100 configuration.

[0047] It is understandable that the diameter of the flexible tie rod 23 can be smaller than the diameter of the connector 21 and smaller than the diameter of the detection head 22, in order to reduce the difficulty of elastic deformation of the flexible tie rod 23.

[0048] In the embodiments of this application, the material of the flexible pull rod 23 is not specifically limited. For example, the material of the flexible pull rod 23 can be, but is not limited to, silicone, rubber, etc.

[0049] It is understood that the materials of the detection head 22 and the connector 21 can be the same as the material of the flexible tie rod 23, and the detection head 22, connector 21, and flexible tie rod 23 can be integrally formed to achieve fixation; alternatively, the materials of the detection head 22 and the connector 21 can be different from the material of the flexible tie rod 23, and the detection head 22 and the connector 21 can be fixedly connected to the flexible tie rod 23 by means of bonding, interference fit, etc. The embodiments of this application do not limit this.

[0050] In the embodiments of this application, the type of flexible sleeve 13 is not specifically limited. For example, the flexible sleeve 13 can be a spring mechanism, specifically a tension spring or a spring; when the flexible sleeve 13 is a tension spring, after the flexible sleeve 13 bends, its stretched portion can be driven to return to its original shape by the elastic force generated by the stretching; when the flexible sleeve 13 is a spring, after the flexible sleeve 13 bends, its compressed portion can be driven to return to its original shape by the elastic force generated by the compression. As another example, the flexible sleeve 13 can be a sleeve made of flexible materials such as rubber or silicone.

[0051] In some cases, an elastic element can be provided between the movable device 102 and the vehicle body 101. After the movable device 102 collides with an obstacle and separates from the obstacle, the elastic element can drive the movable device 102, which has moved, to return to its initial position on the vehicle body 101. At this time, the collision head 11 can be reset synchronously with the movable device 102, and the bent flexible sleeve 13 and flexible tie rod 23 can return to their original shape under their own elastic force and the drive of the elastic element.

[0052] In other cases, an elastic element for driving the movable device 102 to reset may not be provided between the movable device 102 and the vehicle body 101. After the movable device 102 collides with an obstacle and then separates from the obstacle, the bent flexible sleeve 13 and flexible tie rod 23 can return to their original shape under their own elastic force, driving the collision head 11 and the movable device 102 to reset to their initial position on the vehicle body 101.

[0053] Please refer to the following: Figure 6 In some embodiments, a first receiving groove 111 may be formed in the middle of the second side of the collision head 11, and the connector 21 may be located in the first receiving groove 111. The first receiving groove 111 communicates with the receiving space 14. A second receiving groove 121 may be formed in the middle of the first side of the fixing seat 12, and a mounting groove 122 may be formed in the fixing seat 12. The second receiving groove 121 communicates with the mounting groove 122 and with the receiving space 14. The detection head 22 may be located in the second receiving groove 121, and the collision detection element 30 may be located in the mounting groove 122. The mounting groove 122 may be located on the side of the second receiving groove 121 opposite to the collision head 11.

[0054] It is understood that the mounting slot 122 can penetrate the second side of the mounting base 12, so that the signal line of the collision detection element 30 can extend through the second side of the mounting base 12 and be connected to the processor (not shown) and / or communication device (not shown) inside the fuselage.

[0055] It is understood that the connector 21 can be fixedly connected to the collision head 11 by bonding, interference fit, or interference fit to the inner wall of the first receiving groove 111. The collision detection component 30 can be fixedly connected to the fixing seat 12 by bonding, interference fit, or interference fit to the inner wall of the second receiving groove 121.

[0056] Please refer to the following: Figure 7 and Figure 8 In some embodiments, the collision detection element 30 is disposed adjacent to the detection head 22, but the detection head 22 and the collision detection element 30 are not directly connected. The detection head 22 can be slidably connected to the second receiving groove 121 in a preset direction, so that the detection head 22 is movably connected to the fixed base 12 in the preset direction. The collision detection element 30 can detect the displacement change between the detection head 22 and the collision detection element 30.

[0057] Understandable, such as Figure 8 As shown, when the collision head 11 and the connecting head 21 move with the movable device 102, causing the flexible sleeve 13 and the flexible pull rod 23 to bend, the flexible pull rod 23 can pull the detection head 22 closer to the connecting head 21, causing the detection head 22 to move away from the collision detection component 30. The collision detection component 30 detects the displacement change between the detection head 22 and the collision detection component 30. When the displacement change shows an increasing trend, it can be determined that the robot 100 has collided with the obstacle.

[0058] Understandable, such as Figure 7 As shown, after the movable device 102 is displaced, if the movable device 102 moves away from the obstacle as the vehicle body 101 moves, the collision head 11 and the connecting head 21 can be reset to their initial positions, the flexible sleeve 13 and the flexible tie rod 23 can be restored to their original state, and the flexible tie rod 23 can push the detection head 22 toward the collision detection component 30, so that the detection head 22 is reset to its initial position.

[0059] In the embodiments of this application, when the collision detection element 30 detects the displacement change between the detection head 22 and the collision detection element 30, the type of the collision detection element 30 is not specifically limited. For example, the collision detection element 30 can be a proximity switch. When the detection head 22 moves away from the collision detection element 30 and out of the detection range of the collision detection element 30, the collision detection element 30 can determine that there is a displacement change between the detection head 22 and the collision detection element 30 and that the displacement is increasing. At this time, it can be determined that the robot 100 has collided with the obstacle.

[0060] For example, the collision detection element 30 can be a distance sensor. When the collision detection element 30 detects that the distance between the detection head 22 and the collision detection element 30 increases and is greater than the preset distance, it can be determined that there is a displacement change between the detection head 22 and the collision detection element 30 and that the displacement is increasing. At this time, it can be determined that the robot 100 has collided with the obstacle.

[0061] In other embodiments, the collision detection element 30 may be fixedly connected to the detection head 22. The detection head 22 may be fixed relative to the mounting base 12. The collision detection element 30 may detect changes in the tensile force applied to it by the detection head 22.

[0062] It is understandable that when the collision head 11 and the connecting head 21 move with the movable device 102, causing the flexible sleeve 13 and the flexible tie rod 23 to bend, the flexible tie rod 23 can be stretched synchronously and apply a tension force to the detection head 22; after the detection head 22 is subjected to tension, it can increase the tension force applied to the collision detection component 30. When the tension force applied by the detection head 22 to the collision detection component 30 changes and shows an increasing trend, it can be determined that the robot 100 has collided with the obstacle.

[0063] In the embodiments of this application, when the collision detection element 30 detects the change in tension between the detection head 22 and the collision detection element 30, the type of the collision detection element 30 is not specifically limited. For example, the collision detection element 30 can be a tension sensor. When the detection head 22 is pulled by the flexible rod 23 and has a tendency to move, the tension applied by the detection head 22 to the collision detection element 30 increases. The collision detection element 30 can detect that the tension applied by the detection head 22 is greater than a preset tension value, thereby determining that there is a change in tension between the detection head 22 and the collision detection element 30 and that it is increasing. At this time, it can be determined that the robot 100 has collided with the obstacle.

[0064] In some embodiments, a first annular groove 112 may be formed on the periphery of the impact head 11. The first annular groove 112 may be located on the second side of the impact head 11, and the first side of the flexible sleeve 13 may be received within the first annular groove 112 and adapted to the inner wall of the first annular groove 112. The first side of the flexible sleeve 13 may be fixedly connected to the impact head 11.

[0065] A second annular groove 123 can be formed in the peripheral wall of the fixed base 12. The second annular groove 123 can be located on the first side of the fixed base 12. The second side of the flexible sleeve 13 can be received in the second annular groove 123 and adapted to the inner wall of the second annular groove 123. The second side of the flexible sleeve 13 can be fixedly connected to the fixed base 12.

[0066] For example, the flexible sleeve 13 can be a helical spring, the inner wall of the first annular groove 112 can be adapted to the helically extended flexible sleeve 13, and the inner wall of the second annular groove 123 can be adapted to the helically extended flexible sleeve 13, so as to restrict the movement of the flexible sleeve 13 in the first annular groove 112 and the second annular groove 123.

[0067] With the collision detection device 103 and robot 100 provided in the embodiments of this application, when the robot 100 collides with an obstacle, regardless of which direction the movable device 102 moves along the preset plane, the collision head 11 and the connecting head 21 can move synchronously, so that the flexible sleeve 13 and the flexible pull rod 23 can bend along that direction, and the detection head 22 moves away from or pulls the collision detection component 30, so that the collision detection component 30 can determine that the robot 100 has collided with the obstacle by the displacement change of the detection head 22 to the collision detection component 30 or the pull change of the detection head 22 on the collision detection component 30.

[0068] Thus, by using a collision detection device 103, collisions of the robot 100 in multiple directions on a preset plane can be detected. This reduces the number of collision detection devices 103 that need to be installed on the robot 100, thereby reducing the cost of the robot 100, reducing the manpower and time required for its installation, and improving the redundancy of the robot 100 configuration.

[0069] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments described above should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this application.

Claims

1. A collision detection device, characterized in that, include: A flexible cylinder has an accommodating space inside. The axial dimension of the flexible cylinder remains unchanged under pressure, and the sidewalls of the flexible cylinder can be elastically bent and deformed. The flexible cylinder has a first side and a second side opposite each other in the axial direction. A flexible component is located within the accommodating space. The flexible component includes a connector and a detection head. The connector and the detection head are arranged opposite each other in the axial direction of the flexible cylinder. The connector is connected to a first side of the flexible cylinder. The connector is used to move synchronously with the first side of the flexible cylinder when the flexible cylinder is bent and deformed, and to drive the detection head to move synchronously or generate a movement trend. A collision detection element is disposed on the second side of the flexible cylinder, and the collision detection element is used to cooperate with the detection head to detect whether a collision has occurred.

2. The collision detection device as described in claim 1, characterized in that, The flexible cylinder includes: A collision head is located on the first side of the flexible cylinder and is connected to the connecting head; A fixing seat is located on the second side of the flexible cylinder, and the collision detection element is disposed on the fixing seat; A flexible sleeve, the first side of which is connected to the collision head and the fixed seat respectively, the flexible sleeve, the collision head and the fixed seat surround to form the accommodating space, the axial dimension of the flexible sleeve remains unchanged under pressure, and the sidewall of the flexible sleeve can be elastically bent and deformed.

3. The collision detection device as described in claim 2, characterized in that, The collision head has a first annular groove on its periphery, and the first side of the flexible sleeve is disposed in the first annular groove and connected to the first annular groove. A second annular groove is formed on the periphery of the fixed base, and the second side of the flexible sleeve is disposed in the second annular groove and connected to the second annular groove.

4. The collision detection device as described in claim 2, characterized in that, The collision head has a first receiving groove, and the connector is disposed in the first receiving groove.

5. The collision detection device as described in claim 2, characterized in that, A second receiving groove is provided on the first side of the fixed base, and the detection head is disposed in the second receiving groove.

6. The collision detection device as described in claim 5, characterized in that, The mounting base has an installation slot, which is located on the side of the second receiving slot away from the collision head and is connected to the second receiving slot. The collision detection component is located in the installation slot.

7. The collision detection device as described in claim 2, characterized in that, The flexible component also includes: A flexible tie rod is connected between the connector and the detection head. The connector is used to pull the flexible tie rod to drive the detection head to move synchronously or generate a movement trend. The flexible tie rod is used to elastically bend and deform synchronously with the flexible sleeve.

8. The collision detection device as described in claim 1, characterized in that, The detection head is movably connected to the second side of the flexible cylinder in the axial direction. The collision detection element is disposed adjacent to the detection head and is used to detect the displacement change between the detection head and the collision detection element.

9. The collision detection device as described in claim 1, characterized in that, The detection head is connected to the collision detection component, which is used to detect changes in the tension exerted by the detection head on the collision detection component.

10. A robot, characterized in that, include: Body; A movable device, which is movably disposed on the vehicle body, is used to move relative to the vehicle body when subjected to a collision; The collision detection device as described in any one of claims 1 to 9, wherein a first side of the flexible cylinder of the collision detection device is connected to the movable device, and a second side is connected to the vehicle body, and the collision detection device is used to detect the movement of the movable device.

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