Robot motion control sensor with protective structure

Abstract

This utility model discloses a robot motion control sensor with a protective structure, relating to the field of motion control sensors. Its key technical features include: a bottom ring, a fixed plate fixedly connected to the upper surface of the bottom ring, a baffle fixedly connected to the outer arc surface of the fixed plate, a wave plate fixedly connected to the outer arc surface of the baffle, and fixed components on the inner surface of the bottom ring. Each fixed component includes three buffers and a fixed seat. The fixed seat is hinged to the bottom ring via the buffers. Each buffer includes a non-powered telescopic rod, with hinge seats fixedly connected to both ends of the non-powered telescopic rod. Springs are nested on the periphery of the non-powered telescopic rod, with both ends of the springs fixedly connected to the side faces of the hinge seats at both ends of the non-powered telescopic rod. The hinge seat at one end of the non-powered telescopic rod is hinged to the bottom ring, and the hinge seats at the free end of the non-powered telescopic rod are hinged together to the fixed seat. A top cover is provided on the upper surface of the fixed plate, and a protective component is fixedly connected to the upper surface of the fixed seat. This utility model further enhances the protection capability of the sensor.

Description

Technical Field

[0001] This utility model relates to the field of motion control sensors, and in particular to a robot motion control sensor with a protective structure. Background Technology

[0002] Robot motion control sensors are core components for autonomous navigation, path planning, and dynamic obstacle avoidance, and their technological development directly determines a robot's adaptability in complex environments. Current mainstream sensor types include LiDAR, Inertial Measurement Units (IMUs), photoelectric encoders, and vision sensors. LiDAR achieves long-distance obstacle detection through time-of-flight (ToF) or phase difference measurements. Mechanical and solid-state technologies (such as OPA and MEMS) coexist; solid-state LiDAR offers higher reliability due to the absence of rotating parts, but cost still limits its widespread adoption. IMUs achieve attitude calculation through the fusion of three-axis accelerometers and gyroscopes, but the accumulation of yaw angle errors over time limits long-term positioning accuracy. Photoelectric encoders achieve wheel-like odometer functionality through pulse counting; however, the cumulative error caused by wheel slippage is particularly significant in long-distance scenarios. Furthermore, vision sensors (such as binoculars, structured light, and ToF depth cameras) have become crucial for high-precision navigation due to their rich environmental information acquisition capabilities, but their susceptibility to interference from lighting, transparent objects, and low-reflectivity surfaces has not yet been fully resolved. While multi-sensor fusion technology can compensate for the shortcomings of a single sensor, breakthroughs are still needed in data synchronization and conflict resolution between different sensors.

[0003] Despite continuous advancements in sensor technology, the design of their protective structures still lags behind the increasingly complex demands of application scenarios. Traditional protection solutions primarily focus on physical isolation and basic environmental adaptability, such as adding protective covers for rigid protection. However, this approach has significant limitations: in fast-moving or high-density operational scenarios, sensors must withstand repeated mechanical impacts, which can easily cause internal damage. Utility Model Content

[0004] To address the aforementioned technical problems, the purpose of this invention is to provide a robot motion control sensor with a protective structure, thereby further enhancing the sensor's protective capabilities.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A robot motion control sensor with a protective structure includes a bottom ring. A fixing plate is fixedly connected to the upper surface of the bottom ring. A baffle is fixedly connected to the outer arc surface of the fixing plate. A wave plate is fixedly connected to the outer arc surface of the baffle. Fixing components are provided on the inner surface of the bottom ring. Each fixing component includes three buffers and a fixing seat. The fixing seat is hinged to the bottom ring through the buffers. Each buffer includes a non-powered telescopic rod. Both ends of the non-powered telescopic rod are fixedly connected to hinge seats. Springs are nested on the periphery of the non-powered telescopic rod. The two ends of the springs are fixedly connected to the side faces of the hinge seats at both ends of the non-powered telescopic rod. The hinge seat at one end of the non-powered telescopic rod is hinged to the bottom ring. The hinge seats at the free end of the non-powered telescopic rod are all hinged to the fixing seat. A top cover is provided on the upper surface of the fixing plate. A protective component is fixedly connected to the upper surface of the fixing seat.

[0007] Preferably, the side surfaces of adjacent baffles are in close contact, and the corrugated plate is a shape memory metal material, the main component of which is nickel-titanium alloy.

[0008] Preferably, the shape and size of the spring are adapted to the non-powered telescopic rod, and the spring is nested on the periphery of the non-powered telescopic rod.

[0009] Preferably, the top cover includes a top ring, and a buffer is also hinged to the inner surface of the top ring. A top plate is hinged to the free end of the buffer. A threaded groove is formed on the upper surface of the top plate, and a threaded screw is threadedly connected to the threaded groove. A rotating handle is fixedly connected to the upper surface of the threaded screw. Threaded holes are formed on the upper surface of the top ring and the upper surface of the fixed plate, and screws are threadedly connected to the threaded holes. The upper surface of the fixed plate is tightly fitted to the lower surface of the top ring.

[0010] Preferably, the protective component includes a protective box, the bottom of which is fixedly connected to the sensor body, a cover plate is inserted into the upper end of the inner wall of the protective box, an arc-shaped buffer plate is fixedly connected to the lower end face of the cover plate, and the lower end face of the protective box is fixedly connected to the upper end face of the fixing base.

[0011] Preferably, the lower end face of the threaded screw is rotatably connected to the upper end face of the cover plate, the shape and size of the cover plate are adapted to the inner wall of the protective box, and the cover plate is slidably fitted with the inner wall of the protective box.

[0012] This utility model has the following beneficial effects:

[0013] Enhanced shock resistance: By incorporating a buffer system, in which a non-powered telescopic rod works in conjunction with a spring, when the robot's motion control sensor is impacted, the non-powered telescopic rod extends and retracts, and the spring undergoes elastic deformation, absorbing and dispersing the impact energy and reducing damage to the sensor body. Simultaneously, a buffer system is also hinged inside the top cover, further enhancing impact resistance in the top direction. The mutual restraint of these buffers achieves triangular stability, providing 360-degree all-around protection for the sensor in the horizontal direction, improving its lifespan and stability.

[0014] Multi-directional protection structure: A baffle is fixedly connected to the outer arc surface of the fixed plate, with adjacent baffle side surfaces tightly fitted together to form a relatively tight protective barrier. Furthermore, the corrugated plate fixed to the outer arc surface of the baffle is made of shape memory metal (nickel-titanium alloy). Shape memory metal has a unique shape memory effect and superelasticity, allowing it to return to its original shape after deformation under external force. This effectively resists collisions and scratches from external objects and better adapts to impacts of different shapes, providing more reliable cushioning protection for the sensor. The protective box in the protective assembly provides rigid protection for the sensor body. A cover plate inserted into the upper end of the inner wall of the protective box slides into the inner wall, and an arc-shaped buffer plate is fixedly connected to the lower end of the cover plate. When an object falls or impacts the protective assembly vertically, the arc-shaped buffer plate collapses to absorb energy, providing vertical cushioning and reducing direct impact on the sensor body, further protecting the sensor.

[0015] Easy installation and maintenance: The top cover is connected to the fixing plate via a top ring. A threaded groove is formed on the upper surface of the top plate, and a threaded rod is threadedly connected to it. A rotating handle is fixedly connected to the upper end of the threaded rod. Threaded holes are formed on the upper surfaces of the top ring and the fixing plate, and screws are threadedly connected to them. This design makes the installation and removal of the top cover relatively convenient. The cover plate slides against the inner wall of the protective box and is connected to the top plate via a threaded rod. Rotating the rotating handle drives the threaded rod to move the top plate up and down, ensuring the arc-shaped buffer plate holds and fixes the sensor.

[0016] High structural stability: The fixed base is hinged to the bottom ring via a buffer component. The two ends of the buffer's non-powered telescopic rod are hinged to the bottom ring and the fixed base respectively via hinged seats. The buffer component inside the top cover also uses a hinged connection to connect the top ring and the top plate. This hinged connection allows for a certain degree of freedom of movement between components, and the buffer components are triangularly opposed, enabling better coordinated deformation under external forces and preventing structural damage due to localized stress concentration, while simultaneously improving the stability of the entire protective structure. The shape and size of the spring are adapted to the non-powered telescopic rod and nested around its periphery. This adaptive design allows the spring to better exert its elastic buffering effect, working in conjunction with the non-powered telescopic rod to improve the buffering effect. The shape and size of the cover plate are adapted to the inner wall of the protective box, ensuring stable sliding of the cover plate within the protective box and preventing shaking or jamming, further enhancing the structural stability of the protective components. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is an overall view of the first embodiment of the present utility model.

[0019] Figure 2 This is a partial cross-sectional view of the first embodiment of the present invention.

[0020] In the diagram: 1. Bottom ring; 2. Fixing plate; 3. Baffle; 4. Wave plate; 501. Fixing seat; 5021. Non-powered telescopic rod; 5022. Hinge seat; 5023. Spring; 601. Top ring; 602. Top plate; 7. Threaded groove; 8. Threaded screw; 9. Rotating handle; 10. Threaded hole; 11. Screw; 1201. Protective box; 1202. Sensor body; 1203. Cover plate; 1204. Arc-shaped buffer plate. Detailed Implementation

[0021] 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 skilled in the art without creative effort are within the protection scope of the present utility model.

[0022] First embodiment

[0023] like Figures 1 to 2As shown, the robot motion control sensor with a protective structure in this embodiment includes a bottom ring 1. A fixing plate 2 is fixedly connected to the upper end face of the bottom ring 1. A baffle 3 is fixedly connected to the outer arc surface of the fixing plate 2. A wave plate 4 is fixedly connected to the outer arc surface of the baffle 3. Fixing components are provided on the inner surface of the bottom ring 1. The fixing components include three buffers and a fixing seat 501. The fixing seat 501 is hinged to the bottom ring 1 through the buffers. The buffers include a non-powered telescopic rod 5021. Both ends of the non-powered telescopic rod 5021 are fixed. A hinge seat 5022 is fixedly connected to the non-powered telescopic rod 5021. A spring 5023 is nested on the periphery of the non-powered telescopic rod 5021. The two ends of the spring 5023 are fixedly connected to the side end faces of the hinge seats 5022 at both ends of the non-powered telescopic rod 5021. The hinge seat 5022 at one end of the non-powered telescopic rod 5021 is hinged to the bottom ring 1. The hinge seat 5022 at the free end of the non-powered telescopic rod 5021 is hinged to the fixed seat 501. A top cover is provided on the upper end face of the fixed plate 2. A protective component is fixedly connected to the upper end face of the fixed seat 501.

[0024] like Figures 1 to 2As shown, during use, when the sensor body 1202 is subjected to external impact, the buffer component in the fixing assembly is the core component for impact resistance. The buffer component includes a non-powered telescopic rod 5021 and a spring 5023 nested on its peripheral side. The two ends of the non-powered telescopic rod 5021 are hinged to the bottom ring 1 and the fixing seat 501 respectively through hinge seats 5022. Under the action of impact force, the non-powered telescopic rod 5021 undergoes telescopic deformation, while the spring 5023 undergoes elastic deformation. The elastic deformation of the spring 5023 converts the impact energy into its own elastic potential energy for storage. As the impact force disappears, the spring 5023 returns to its original shape and releases the elastic potential energy, while the telescopic rod 5021 further prolongs the action time of the impact force. According to the momentum theorem, the prolongation of the action time of the force will reduce the impact force, thereby effectively absorbing and dispersing the impact energy and reducing the direct damage of the impact to the sensor body 1202. A buffer component is also provided inside the top cover, which cooperates with the buffer component at the bottom. These buffer components are arranged in a specific spatial layout. The fixed base 501 is hinged to the bottom ring 1 via the buffer components. The two ends of the non-powered telescopic rod 5021 of the buffer components are hinged to the bottom ring 1 and the fixed base 501 respectively via hinged seats 5022. The buffer components inside the top cover are also hinged to the top ring 601 and the top plate 602. Simultaneously, the hinged connection allows for a certain degree of freedom of movement between the components. When the sensor is subjected to external force, the components can coordinate their deformation according to the direction and magnitude of the force, avoiding structural damage due to localized stress concentration. For example, when subjected to lateral impact, the non-powered telescopic rod 5021 and the spring 5023 of the buffer components will undergo corresponding extension, contraction, and elastic deformation. At the same time, the hinged connection allows the fixed base 501 and the top cover to swing to a certain extent, thereby evenly distributing the impact force throughout the entire structure and improving the overall stability of the structure. Moreover, the mutual restraint between the buffer components at the same horizontal position forms a structure similar to triangular stability (e.g., Figure 2 As shown in the figure, it can achieve all-round impact protection in the horizontal direction, enhancing the sensor body 1202's ability to cope with impacts from different directions.

[0025] The side surfaces of adjacent baffles 3 are tightly fitted together, and the wave plate 4 is made of shape memory metal material, the main component of which is nickel-titanium alloy.

[0026] like Figures 1 to 2As shown, the baffle 3, fixedly connected to the outer arc surface of the fixed plate 2, forms a preliminary protective barrier. The side surfaces of adjacent baffles 3 are tightly fitted, forming a relatively tight closed loop, preventing small external objects from intruding and colliding due to gaps in the protective structure, thus avoiding significant physical damage to the sensor. The corrugated plate 4 fixed to the outer arc surface of the baffle 3 is made of shape memory metal (nickel-titanium alloy). Shape memory metal has a unique shape memory effect and superelasticity. When the corrugated plate 4 is impacted and scratched by external objects, it will deform, but due to its shape memory properties, it can quickly return to its original shape after the impact force disappears, continuing to provide reliable protection for the sensor. This design not only effectively resists the impact and scratching of external objects, but also better adapts to impacts of different shapes, expanding the protection range.

[0027] The shape and size of the spring 5023 are adapted to the non-powered telescopic rod 5021, and the spring 5023 is nested on the periphery of the non-powered telescopic rod 5021.

[0028] like Figures 1 to 2 As shown, the shape and size of the spring 5023 are adapted to the unpowered telescopic rod 5021 and nested around the periphery of the unpowered telescopic rod 5021. This adaptive design allows the spring 5023 to work better with the unpowered telescopic rod 5021. Upon impact, the spring 5023 can elastically deform tightly around the unpowered telescopic rod 5021, fully utilizing its buffering effect and improving the cushioning performance. The unpowered telescopic rod 5021 provides basic support and absorption guidance.

[0029] Second embodiment

[0030] like Figures 1 to 2 As shown, the top cover includes a top ring 601, and a buffer is also hinged to the inner surface of the top ring 601. A top plate 602 is hinged to the free end of the buffer. A threaded groove 7 is opened on the upper end face of the top plate 602. A threaded screw 8 is threadedly connected in the threaded groove 7. A rotating handle 9 is fixedly connected to the upper end face of the threaded screw 8. Threaded holes 10 are opened on the upper end face of the top ring 601 and the upper end face of the fixing plate 2. A screw 11 is threadedly connected in the threaded hole 10. The upper end face of the fixing plate 2 is tightly fitted with the lower end face of the top ring 601.

[0031] The protective assembly includes a protective box 1201, a sensor body 1202 fixedly connected to the bottom of the protective box 1201, a cover plate 1203 inserted into the upper end of the inner wall of the protective box 1201, an arc-shaped buffer plate 1204 fixedly connected to the lower end face of the cover plate 1203, and the lower end face of the protective box 1201 fixedly connected to the upper end face of the fixing base 501.

[0032] In use, align the threaded holes 10 on the upper end face of the top ring 601 and the upper end face of the fixing plate 2, and then screw the screw 11 into the threaded holes 10. As the screw 11 is tightened, the threads of the screw 11 and the threads of the threaded holes 10 mesh tightly, generating strong friction and clamping force, firmly connecting the top ring 601 and the fixing plate 2 together. This forms a complete and stable installation structure that can withstand a certain amount of external force, ensuring the overall stability of the sensor protection structure. The threaded engagement between the threaded rod 8 and the threaded groove 7 has a certain adjustment function. By rotating the handle 9, the rotation direction and number of turns of the threaded rod 8 in the threaded groove 7 can be controlled. When the handle 9 is rotated clockwise, the threaded rod 8 screws downward into the threaded groove 7, causing the top plate 602 to move downward; when the handle 9 is rotated counterclockwise, the threaded rod 8 screws upward out of the threaded groove 7, causing the top plate 602 to move upward. This adjustment method allows for precise control of the position of the top plate 602. Operators can flexibly adjust the height of the top plate 602 according to actual needs, such as the installation requirements of the internal components of the sensor and the tightness of the protective components. For example, when installing the sensor body 1202, the position of the top plate 602 can be adjusted so that the protective components can accurately press down on the sensor body 1202, ensuring its stable installation. When it is necessary to replace sensor components of different specifications, the position of the top plate 602 can also be easily adjusted to adapt to the new installation requirements.

[0033] In use, the lower end face of the threaded screw 8 is rotatably connected to the upper end face of the cover plate 1203. The shape and size of the cover plate 1203 are adapted to the inner wall of the protective box 1201, and the cover plate 1203 slides in fit with the inner wall of the protective box 1201.

[0034] Meanwhile, the shape and size of the cover plate 1203 are adapted to the inner wall of the protective box 1201, ensuring the stable sliding of the cover plate 1203 within the protective box 1201 and preventing shaking or jamming. This further enhances the structural stability of the protective components and ensures that the entire sensor protection structure remains stable and reliable under various working conditions.

[0035] The above are merely specific embodiments of this utility model, but the technical features of this utility model are not limited thereto. Any simple changes, equivalent substitutions, or modifications made based on this utility model to solve essentially the same technical problems and achieve essentially the same technical effects are all covered within the protection scope of this utility model.

Claims

1. A robot motion control sensor with a protective structure, comprising a bottom ring (1), characterized in that: A fixing plate (2) is fixedly connected to the upper end face of the bottom ring (1). A baffle (3) is fixedly connected to the outer arc surface of the fixing plate (2). A wave plate (4) is fixedly connected to the outer arc surface of the baffle (3). A fixing assembly is provided on the inner surface of the bottom ring (1). The fixing assembly includes three buffers and a fixing seat (501). The fixing seat (501) is hinged to the bottom ring (1) through the buffers. The buffers include a non-powered telescopic rod (5021). A hinge seat (5022) is fixedly connected to both the front and rear ends of the non-powered telescopic rod (5021). A spring (5023) is nested around the periphery of the powered telescopic rod (5021). The two ends of the spring (5023) are fixedly connected to the side faces of the hinge seats (5022) at both ends of the unpowered telescopic rod (5021). The hinge seat (5022) at one end of the unpowered telescopic rod (5021) is hinged to the bottom ring (1). The hinge seat (5022) at the free end of the unpowered telescopic rod (5021) is hinged to the fixed seat (501). A top cover is provided on the inner side of the upper end face of the fixed plate (2). A protective component is fixedly connected to the upper end face of the fixed seat (501).

2. The robot motion control sensor with a protective structure according to claim 1, wherein: The side surfaces of the adjacent baffles (3) are tightly fitted together, and the wave plate (4) is a shape memory metal material, the main component of which is nickel-titanium alloy.

3. The robot motion control sensor with a protective structure according to claim 1, wherein: The shape and size of the spring (5023) are adapted to the non-powered telescopic rod (5021), and the spring (5023) is nested on the periphery of the non-powered telescopic rod (5021).

4. The robot motion control sensor with a protective structure according to claim 1, wherein: The top cover includes a top ring (601), and a buffer is also hinged to the inner surface of the top ring (601). The free end of the buffer is hinged to a top plate (602). A threaded groove (7) is provided on the upper surface of the top plate (602). A threaded screw (8) is threadedly connected to the threaded groove (7). A rotating handle (9) is fixedly connected to the upper surface of the threaded screw (8). A threaded hole (10) is provided on the inner side of the upper surface of the top ring (601) and the upper surface of the fixing plate (2). A screw (11) is threadedly connected to the threaded hole (10). The upper surface of the fixing plate (2) is tightly fitted to the lower surface of the top ring (601).

5. The robot motion control sensor with a protective structure according to claim 1, wherein: The protective assembly includes a protective box (1201), a sensor body (1202) is fixedly connected to the bottom of the protective box (1201), a cover plate (1203) is inserted into the upper end of the inner wall of the protective box (1201), an arc-shaped buffer plate (1204) is fixedly connected to the lower end face of the cover plate (1203), and the lower end face of the protective box (1201) is fixedly connected to the upper end face of the fixing base (501).

6. The robot motion control sensor with a protective structure according to claim 4, wherein: The lower end face of the threaded screw (8) is rotatably connected to the upper end face of the cover plate (1203). The shape and size of the cover plate (1203) are adapted to the inner wall of the protective box (1201). The cover plate (1203) slides with the inner wall of the protective box (1201).

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