Robot path planning obstacle avoidance protection device

Abstract

The utility model belongs to the technical field of robot obstacle avoidance protection, and provides a robot path planning obstacle avoidance protection device which comprises a connecting plate and a protection structure, the connecting plate is transversely arranged on the front face of a robot, the protection structure comprises a pair of energy absorption plates and an energy absorption frame, the two ends of the two energy absorption plates are correspondingly hinged together, and the energy absorption frame is arranged on the connecting plate. Wherein the middle portion of one energy absorption plate is connected with the center of the connecting plate, the energy absorption frame is located between the two energy absorption plates, the middle portions of the two energy absorption plates are both arched in the direction away from the energy absorption frame to form an energy absorption area, and when the middle portion or the side portion of the front face of the energy absorption plate far away from the connecting plate is impacted, the energy absorption frame can be pulled. And impact can be resisted through the energy absorption frame and the two energy absorption plates. According to the protective device, the front impact of the robot can be comprehensively resisted, the effective impact resistance surface is wide, and even if the side part of the protective device is subjected to the front impact, effective buffering can be realized, so that the front of the robot can be comprehensively protected.

Description

Technical Field

[0001] This utility model belongs to the field of robot obstacle avoidance and protection technology, specifically relating to a path planning obstacle avoidance and protection device for robots. Background Technology

[0002] Existing robots equipped with artificial intelligence technology still need to achieve intelligence through machine learning. For robots that need to intelligently identify roads and avoid obstacles, the first step in machine learning is to collect road information samples through big data. However, when collecting road information, the robot needs to be specially protected.

[0003] Traditional obstacle avoidance devices for robots, such as the one with Chinese patent publication number CN221792790U and the one with Chinese patent publication number CN219902223U, can generally mitigate the impact of a frontal collision on the robot, thus providing effective protection. However, their energy absorption angles are relatively limited, and their main impact-resistant and energy-absorbing parts are concentrated in the center of the protective device, while the frontal impact resistance of the parts on both sides of the protective device is relatively weak, and they cannot effectively buffer the impact force, resulting in insufficient frontal protection for the robot.

[0004] Therefore, there is a need to provide an improved technical solution that addresses the shortcomings of the existing technology. Utility Model Content

[0005] The purpose of this invention is to overcome the problem that the main impact-absorbing structure of traditional protective devices for frontal collisions of robots is concentrated in the central position, resulting in relatively weak frontal impact resistance of the parts on both sides of the protective device, and to provide a path planning obstacle avoidance protection device for robots.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A path planning obstacle avoidance and protection device for a robot includes a connecting plate and a protective structure. The connecting plate is horizontally positioned on the front of the robot. The protective structure includes an energy-absorbing plate and an energy-absorbing frame. The energy-absorbing plates are a pair, with their ends hinged together. The middle of one of the energy-absorbing plates is connected to the center of the connecting plate. The energy-absorbing frame is located between the two energy-absorbing plates, and the middle of both energy-absorbing plates arches away from the energy-absorbing frame to form an energy-absorbing area. When the middle or side of the front of the energy-absorbing plate farther from the connecting plate is impacted, the energy-absorbing frame can be activated to jointly resist the impact through the energy-absorbing frame and the two energy-absorbing plates.

[0008] In the path planning and obstacle avoidance protection device for the robot described above, preferably, both ends of the connecting plate have horizontally extending wing plates that are directly connected to the front of the robot.

[0009] The wing plate is positioned rearward relative to the connecting plate to form grooves on both sides and the rear side of the connecting plate.

[0010] Preferably, the connecting plate is connected to the adjacent energy-absorbing plate by high-strength bolts.

[0011] Preferably, the head of the high-strength bolt is located on the groove platform on the rear side of the connecting plate;

[0012] The shank of the high-strength bolt passes through the center of the connecting plate and the adjacent energy-absorbing plate in sequence and is then fastened by a nut. A reinforcing plate is added between the nut and the energy-absorbing plate.

[0013] Preferably, both ends of the hinge shaft of the two energy-absorbing plates are fitted with rollers via bearings.

[0014] Preferably, the energy-absorbing frame includes a main rod and a transmission arm, wherein the main rod is horizontally positioned in the center of the energy-absorbing area, and both ends of the main rod are respectively directed toward the hinge axes of the two energy-absorbing plates;

[0015] Both ends of the main rod are equipped with anti-detachment plates.

[0016] Preferably, pressure rings are fitted on the outside of both ends of the main rod;

[0017] The transmission arm is provided between the front and rear sides of the pressure ring and the two corresponding energy-absorbing plates.

[0018] Preferably, one end of the transmission arm is hinged to the middle of the side of the pressure ring, and the other end is hinged to the corresponding energy-absorbing plate, with the end of the transmission arm hinged to the energy-absorbing plate inclined toward its end.

[0019] Preferably, a compression spring is provided between the two compression rings, and the compression spring is sleeved on the outside of the main rod.

[0020] Preferably, a tension spring is provided between the hinge joint of the anti-detachment plate and the two energy-absorbing plates;

[0021] The two ends of the tension spring are respectively hooked onto the anti-detachment plate and the hinge joint of the two energy-absorbing plates.

[0022] Beneficial effects: This utility model can comprehensively resist frontal impacts on the robot, with a wide effective impact resistance area. Even when the side of the protective device is subjected to frontal impact, it can effectively buffer the impact, thus achieving comprehensive protection for the front of the robot. Attached Figure Description

[0023] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. Wherein:

[0024] Figure 1 This is a top view of the present invention;

[0025] Figure 2 This is a schematic diagram of the overall structure of this utility model;

[0026] Figure 3 This is a schematic diagram showing the unfolded structure of the two energy-absorbing plates of this utility model;

[0027] Figure 4 for Figure 2 Another perspective illustration;

[0028] Figure 5 This is a schematic diagram of the overall structure of the energy-absorbing frame of this utility model.

[0029] In the diagram: 1. Connecting plate; 2. Energy-absorbing plate; 3. Wing plate; 4. Slot platform; 5. High-strength bolt; 6. Reinforcing plate; 7. Roller; 8. Main rod; 9. Transmission arm; 10. Anti-detachment plate; 11. Pressure ring; 12. Compression spring; 13. Tension spring; 14. Pull ring. Detailed Implementation

[0030] The technical solutions in the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art are within the protection scope of this utility model.

[0031] In the description of this utility model, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and do not require that this utility model be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on this utility model. The terms "connected" and "linked" used in this utility model should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; they can refer to a direct connection or an indirect connection through intermediate components. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0032] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0033] This embodiment aims to provide a path planning and obstacle avoidance protection device for robots. Its main function is to provide a wide impact resistance coverage and obvious effect, which can achieve comprehensive protection for the front of the robot.

[0034] Reference Figures 1-5 It includes: a connecting plate 1 and a protective structure. The connecting plate 1 is horizontally fixed to the front of the robot. Specifically, both ends of the connecting plate 1 have horizontally extending wing plates 3 that are directly connected to the front of the robot. The wing plates 3 can be connected to the front of the robot by high-strength bolts 5 or by welding. The wing plates 3 are positioned further back than the connecting plate 1 to form grooves 4 on both sides and the rear side of the connecting plate 1. The difference in position between the grooves 4 and the connecting plate 1 is used to hide the heads of the high-strength bolts 5.

[0035] The protective structure includes an energy-absorbing plate 2 and an energy-absorbing frame. A pair of energy-absorbing plates 2 are arranged one in front of the other, and the two ends of the two energy-absorbing plates 2 are hinged together. The middle part of the rear energy-absorbing plate 2 can be fixedly connected to the middle part of the connecting plate 1 by one or more high-strength bolts 5. The head of the high-strength bolt 5 is located on the groove 4 on the rear side of the connecting plate 1. The shank of the high-strength bolt 5 passes through the center of the connecting plate 1 and the adjacent rear energy-absorbing plate 2 in sequence and is then tightened by a nut. A reinforcing plate 6 is added between the nut and the energy-absorbing plate 2. The reinforcing plate 6 and the energy-absorbing plate 2 can both be made of spring steel, or other steel materials with good elasticity. The material of the reinforcing plate 6 is the same as that of the energy-absorbing plate 2 in order to adapt to the deformation of the energy-absorbing plate 2.

[0036] An energy-absorbing frame is installed between two energy-absorbing plates 2, and the middle of both energy-absorbing plates 2 arches away from the energy-absorbing frame to form an energy-absorbing area. The energy-absorbing plate 2 is arc-shaped, so when the front center or side of the energy-absorbing plate 2 is impacted, the energy-absorbing frame can be pulled to resist the impact together through the energy-absorbing frame and the two energy-absorbing plates 2.

[0037] Specifically, the energy-absorbing frame includes a main rod 8 and transmission arms 9. The main rod 8 is horizontally positioned in the center of the energy-absorbing area, with both ends of the main rod 8 facing the hinge axes of the two energy-absorbing plates 2 respectively. Pressure rings 11 are fitted on the outside of both ends of the main rod 8. The pressure rings 11 can slide along the axial direction of the main rod 8. Transmission arms 9 are horizontally arranged between the front and rear sides of the pressure rings 11 and the corresponding two energy-absorbing plates 2. One end of each transmission arm 9 is hinged to the middle of the front or rear side of the pressure ring 11, and the other end is hinged to the corresponding energy-absorbing plate 2, so that the transmission arm 9 can swing horizontally in the front-back direction. The end of the transmission arm 9 that is hinged to the energy-absorbing plate 2 is inclined towards its end, thereby limiting the movement trajectory of the transmission arm 9. The two transmission arms 9 between the front energy-absorbing plate 2 and the main rod 8 are in an inverted V-shape, and the two transmission arms 9 between the rear energy-absorbing plate 2 and the main rod 8 are in a regular V-shape.

[0038] A compression spring 12 is provided between the two compression rings 11. The compression spring 12 is sleeved on the outside of the main rod 8. When the middle area of ​​the front energy-absorbing plate 2 collides, it will deform to reduce the energy-absorbing area. Due to the reduction of the energy-absorbing area, the tilt angle of the transmission arm 9 will increase or decrease accordingly with the amount of energy absorbed. Therefore, the larger the tilt angle of the transmission arm 9, the greater the thrust on the compression ring 11, and consequently the greater the pressure on the compression spring 12 between the two compression rings 11, and the more energy is absorbed.

[0039] In this embodiment, anti-detachment plates 10 are fixed at both ends of the main rod 8. Pull rings 14 are welded to the opposite sides of the two anti-detachment plates 10. At the same time, pull rings 14 are also welded at the hinge of the two energy-absorbing plates 2. The hinge of the two energy-absorbing plates 2 is similar to a hinge. That is, the pull ring 14 can be set at the hinge of one of the suitable energy-absorbing plates 2. In this device, the pull ring 14 is set on the rear energy-absorbing plate 2. Tension springs 13 are provided between the hinges of the two anti-detachment plates 10 and the two ends of the two energy-absorbing plates 2. The two ends of the tension springs 13 are hooked onto the pull rings 14 set at the hinges of the anti-detachment plates 10 and the two energy-absorbing plates 2, respectively. As long as the front and rear energy-absorbing plates 2 are impacted and deformed, causing the energy absorption area to shrink, that is, the front and rear width to narrow, the tension springs 13 will be pulled. At this time, the tension springs 13 can be used to reduce the instantaneous impact on the two energy-absorbing plates 2 to achieve the energy absorption effect.

[0040] In this embodiment, a buffer pad can be adhered to the front of the front energy-absorbing plate 2. Rubber or other materials with good buffering performance are acceptable.

[0041] In this embodiment, the protective structure is not limited to the front of the robot; it can also be set on other sides of the robot. However, the front of the robot is the main force-bearing surface during daily operations and has a greater need for collision protection.

[0042] In this embodiment, both the upper and lower ends of the hinge shafts of the two energy-absorbing plates 2 are fitted with rollers 7 via bearings. These rollers 7 can help the robot turn after a frontal collision, providing it with the ability to quickly avoid obstacles.

[0043] When a frontal or near-frontal collision occurs in the center or side of this device, the compression spring 12 and the tension spring 13 will work together to ensure that the impact-resistant surface fully covers the device, thus providing comprehensive protection for the front of the robot.

[0044] This embodiment can comprehensively resist frontal impacts on the robot, with a wide effective impact resistance area. Even when the side of the protective device is subjected to a frontal impact, it can effectively buffer the impact, thus achieving comprehensive protection for the front of the robot.

[0045] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be within the scope of protection of the pending claims of the present utility model.

Claims

1. A path planning and obstacle avoidance protection device for a robot, characterized in that, include: The connecting plate is horizontally positioned on the front of the robot. The protective structure includes an energy-absorbing plate and an energy-absorbing frame. The energy-absorbing plates are provided in pairs, with their ends hinged together. The middle part of one of the energy-absorbing plates is connected to the center of the connecting plate. The energy-absorbing frame is located between the two energy-absorbing plates, and the middle parts of both energy-absorbing plates arch away from the energy-absorbing frame to form an energy-absorbing area. When the front center or side of the energy-absorbing plate that is farther away from the connecting plate is impacted, the energy-absorbing frame can be pulled to resist the impact together through the energy-absorbing frame and the two energy-absorbing plates.

2. The path planning and obstacle avoidance protection device for robots according to claim 1, characterized in that, Both ends of the connecting plate have horizontally extending wing plates that are directly connected to the front of the robot. The wing plate is positioned rearward relative to the connecting plate to form grooves on both sides and the rear side of the connecting plate.

3. The path planning and obstacle avoidance protection device for robots according to claim 2, characterized in that, The connecting plate is connected to the adjacent energy-absorbing plate by high-strength bolts.

4. The path planning and obstacle avoidance protection device for robots according to claim 3, characterized in that, The head of the high-strength bolt is located on the groove platform on the rear side of the connecting plate; The shank of the high-strength bolt passes through the center of the connecting plate and the adjacent energy-absorbing plate in sequence and is then fastened by a nut. A reinforcing plate is added between the nut and the energy-absorbing plate.

5. The path planning and obstacle avoidance protection device for a robot according to claim 1, characterized in that, Both ends of the hinge shaft of the two energy-absorbing plates are fitted with rollers via bearings.

6. The path planning and obstacle avoidance protection device for a robot according to claim 1, characterized in that, The energy-absorbing frame includes a main rod and a transmission arm. The main rod is horizontally positioned in the center of the energy-absorbing area, and both ends of the main rod are respectively directed toward the hinge axes of the two energy-absorbing plates. Both ends of the main rod are equipped with anti-detachment plates.

7. The path planning and obstacle avoidance protection device for a robot according to claim 6, characterized in that, Both ends of the main rod are fitted with pressure rings; The transmission arm is provided between the front and rear sides of the pressure ring and the two corresponding energy-absorbing plates.

8. The path planning and obstacle avoidance protection device for a robot according to claim 7, characterized in that, One end of the transmission arm is hinged to the middle of the side of the pressure ring, and the other end is hinged to the corresponding energy-absorbing plate, with the end of the transmission arm that is hinged to the energy-absorbing plate inclined toward its end.

9. The path planning and obstacle avoidance protection device for a robot according to claim 8, characterized in that, A compression spring is provided between the two compression rings, and the compression spring is sleeved on the outside of the main rod.

10. The path planning and obstacle avoidance protection device for a robot according to claim 6, characterized in that, A tension spring is provided between the hinge joint of the anti-detachment plate and the two energy-absorbing plates; The two ends of the tension spring are respectively hooked onto the anti-detachment plate and the hinge joint of the two energy-absorbing plates.

Images