A kind of intelligent robot with anti-collision function
Patent Information
- Application Number
- CN202522051413.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-24
- Publication Date
- 2026-08-21
- Estimated Expiration
- 2035-09-24
AI Technical Summary
[0004]本实用新型主要解决的技术问题是提供一种具有防撞功能的智能机器人，解决了防撞效果差的问题
[0024]突发撞击时，U形防撞梁先接触撞击物，恒定反向缓冲机构即刻启动产生反向力阻止U形防撞梁向智能机器人本体移动，实现初步保护；若撞击力较大，缓冲滑动杆件协同生成反向弹力二次阻挡。这一设计能有效阻挡撞击力传导，减少机器人本体因撞击产生的损伤，同时保护所载货物免受碰撞影响，为机器人运输作业的安全提供可靠保障。
Smart Images
Figure CN224659513U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of intelligent robot technology, and in particular to an intelligent robot with anti-collision function. Background Technology
[0002] Intelligent robots have been widely applied in various fields such as industry, agriculture, service industry, and home care. They not only significantly improve work efficiency but also help humans deepen their understanding of themselves and their surrounding environment, continuously optimizing their quality of life. In industrial production scenarios, the application of intelligent robots in warehousing and logistics transportation is particularly crucial. By replacing manual labor in cargo transfer, they significantly improve transportation efficiency and effectively reduce the labor intensity of workers. However, a core risk always exists during transportation: if an intelligent robot malfunctions suddenly, it is highly susceptible to collisions with surrounding objects, resulting in damage to the robot itself. Based on actual operating conditions, the probability of collisions at the front and rear ends of the robot is significantly higher than that of other parts. Therefore, equipping the robot with a reliable anti-collision protection structure has become a core requirement for ensuring its safe operation.
[0003] To address this need, existing technologies often use materials such as springs and rubber as cushioning components for the front and rear of robots. However, the inventors have discovered in practice that such cushioning solutions have significant limitations: on the one hand, the cushioning capacity of springs and rubber has a natural upper limit, and when encountering a large impact force, they cannot fully absorb and disperse the collision energy, which may lead to damage to the robot body or the cargo it carries; on the other hand, as the service time increases, these cushioning materials are prone to fatigue aging, and their cushioning performance will continue to decline with the extension of the service life, further weakening the anti-collision protection effect. Utility Model Content
[0004] The main technical problem solved by this utility model is to provide an intelligent robot with anti-collision function, thereby solving the problem of poor anti-collision effect.
[0005] To solve the above technical problems, the present invention adopts a technical solution as follows: providing an intelligent robot with anti-collision function, including: an intelligent robot body with driving function, a bearing platform connected to the upper plane of the intelligent robot body, anti-collision frame components respectively provided on the front and rear sides of the intelligent robot body, elastic buffer beam components respectively connected to the left and right sides, and a through mounting groove provided on the intelligent robot body.
[0006] The anti-collision frame assembly includes a U-shaped anti-collision beam, a mounting base, and two spaced buffer sliding rods. The mounting base is connected to one end in the mounting groove. One end of the buffer sliding rod passes through the mounting base and is slidably connected to it. The other end of the buffer sliding rod is connected to the U-shaped anti-collision beam, which is suitable for preventing the U-shaped anti-collision beam from approaching the intelligent robot body when it is impacted.
[0007] It also includes a constant reverse buffer mechanism, which is connected to the end of the buffer sliding rod and is adapted to prevent the impacted U-shaped anti-collision beam from approaching the intelligent robot body.
[0008] By adopting the above technical solution, when in use, the goods are placed on the carrying platform, and the intelligent robot body can drive and complete the goods transportation operation. When the robot body suddenly malfunctions and collides with an object, the U-shaped anti-collision beam in the anti-collision frame assembly will first come into contact with the impacting object. At this time, the constant reverse buffer mechanism connected to the end of the buffer sliding rod immediately activates, generating a reverse force to prevent the U-shaped anti-collision beam from shifting towards the robot body, thus achieving initial anti-collision protection. If the U-shaped anti-collision beam bears a large impact force, it will shift towards the robot body. With the synergistic effect of the two buffer sliding rods, the buffer sliding rods will further generate a reverse elastic force, a second time blocking the approaching tendency of the U-shaped anti-collision beam. This dual anti-collision design significantly improves the overall anti-collision effect, effectively ensuring the safety of the robot body and the goods it carries.
[0009] In a preferred embodiment, the present invention can be further configured such that: two vertical through slots are provided at a distance from the bottom of the mounting groove; the constant reverse buffer mechanism includes a counterweight, a winding wheel assembly, a guide wheel assembly, and a force conversion engagement assembly; the counterweight is disposed in one of the vertical through slots; and a cable assembly that bypasses the guide wheel assembly connects the counterweight and the winding wheel assembly.
[0010] By adopting the above technical solution, when the U-shaped anti-collision beam is impacted, it will shift towards the intelligent robot body, thereby causing the buffer sliding rod to move synchronously. During this process, the force conversion meshing component functions, converting the impact force borne by the U-shaped anti-collision beam into torque of the winding wheel assembly, driving the winding wheel assembly to wind the cable assembly. Simultaneously, under the guidance and limiting action of the guide wheel assembly, the cable assembly pulls the counterweight upwards. The gravitational potential energy of the counterweight is converted into a reverse pulling force on the winding wheel assembly, which is further converted into a reverse torque, directly counteracting and balancing the positive torque converted from the impact force. Through the closed-loop conversion mechanism formed by the force conversion meshing component, the U-shaped anti-collision beam can obtain a constant and stable buffering capacity, thereby effectively achieving the anti-collision protection purpose of the intelligent robot and enhancing the anti-collision effect.
[0011] In a preferred embodiment, the present invention can be further configured such that: the winding wheel assembly includes a support shaft and first fixed seats rotatably connected to its two ends, the first fixed seats being respectively connected to the ends of corresponding buffer sliding rods, and two winding wheel bodies being fixedly connected at intervals to the outer circle of the support shaft.
[0012] By adopting the above technical solution, the first fixed seat is displaced under the drive of the buffer sliding rod, and simultaneously drives the support shaft to move horizontally. The support shaft further drives the two winding wheels to achieve synchronous translation; at the same time, under the action of the force conversion meshing assembly, the support shaft and the two winding wheels rotate synchronously, and finally the winding wheels wind the cable assembly.
[0013] In a preferred embodiment, the present invention can be further configured such that: the guide wheel assembly includes a guide shaft and a second fixed seat rotatably connected to both ends thereto, the lower end of the second fixed seat being connected to the bottom of the mounting groove, and two guide wheel bodies being fixedly connected to the outer circle of the guide shaft.
[0014] By adopting the above technical solution, since the cable assembly is wound around the guide wheel, the guide wheel guides the cable assembly in the counterweight block section to be in a vertical state, preventing the cable assembly from pulling the counterweight block and causing jamming between the vertical through slot.
[0015] In a preferred embodiment, the present invention can be further configured such that: the cable assembly includes a cable body that passes around the guide wheel and a J-shaped hook connected to one end of the cable body, the J-shaped hook being connected to the upper surface of the counterweight, and also includes a fixing hole provided on the winding wheel body, the other end of the cable body passing through the fixing hole and being fixedly connected thereto.
[0016] By adopting the above technical solution, one end of the cable body is connected to the counterweight block through a J-shaped hook, and the other end is connected to the fixing hole of the winding wheel body. The counterweight block pulls the winding wheel assembly through the cable body.
[0017] In a preferred embodiment, the present invention can be further configured such that the force conversion meshing assembly includes a gear and a rack meshing with it, the rack being connected to the bottom of the mounting groove, and the gear being fixedly connected to the outer circle of the support shaft and located between two winding wheels.
[0018] By adopting the above technical solution, the gear and rack are designed with a meshing connection. This structure can convert the impact force borne by the U-shaped anti-collision beam into the positive torque of the winding wheel. At the same time, the gravitational potential energy of the counterweight can be converted into the reverse torque of the winding wheel. This reverse torque can directly counteract and dynamically balance the positive torque converted from the impact force. With the help of this force balancing mechanism, the U-shaped anti-collision beam can achieve constant and stable buffering performance, thereby realizing the anti-collision protection function of the intelligent robot and significantly enhancing the anti-collision effect and operational safety of the equipment.
[0019] In a preferred embodiment, the present invention can be further configured such that the elastic buffer beam assembly includes a U-shaped spring steel plate and a plurality of spaced W-shaped elastic plates, one end of the W-shaped elastic plate being connected to the U-shaped spring steel plate and the other end being connected to the intelligent robot body.
[0020] By employing the above technical solution, when a moving object from the side impacts the U-shaped spring steel plate, the U-shaped spring steel plate bends and deforms, achieving the purpose of cushioning. Simultaneously, the U-shaped spring steel plate transfers the impact force to the W-shaped elastic plate, thereby absorbing some of the kinetic energy and achieving the same cushioning effect.
[0021] In a preferred embodiment, the present invention can be further configured such that: the buffer sliding rod includes a sliding rod body and a spring sleeved on its outer circle; one end of the sliding rod body passes through the mounting base, and the other end does not contact the U-shaped anti-collision beam; one end of the spring is in contact with the mounting base, and the other end is in contact with the U-shaped anti-collision beam.
[0022] By adopting the above technical solution, when the U-shaped anti-collision beam is subjected to a large impact force, the U-shaped anti-collision beam will displace significantly towards the intelligent robot body. After the U-shaped anti-collision beam comes into contact with the spring, the spring is compressed and absorbs part of the kinetic energy, thereby enhancing the anti-collision capability of the intelligent robot.
[0023] In summary, this utility model has at least one of the following beneficial technical effects:
[0024] In the event of a sudden impact, the U-shaped anti-collision beam first contacts the impacting object. The constant reverse buffer mechanism immediately activates, generating a reverse force to prevent the U-shaped anti-collision beam from moving towards the intelligent robot body, thus achieving initial protection. If the impact force is large, the buffer sliding rods work together to generate a reverse elastic force for secondary blocking. This design effectively blocks the transmission of impact force, reduces damage to the robot body caused by the impact, and protects the carried goods from collisions, providing a reliable guarantee for the safety of robot transportation operations. Attached Figure Description
[0025] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:
[0026] Figure 1 This is a structural schematic diagram of a preferred embodiment of an intelligent robot with anti-collision function according to this utility model.
[0027] Figure 2 yes Figure 1 A schematic diagram of the structure connecting the counterweight, winding wheel assembly, guide wheel assembly, force conversion meshing assembly, and cable assembly.
[0028] Figure 3 yes Figure 1A schematic diagram of the connection between the take-up reel assembly, the guide wheel assembly, and the cable assembly.
[0029] In the diagram: 1. Intelligent robot body; 2. Load-bearing platform; 30. Anti-collision frame assembly; 40. Elastic buffer beam assembly; 5. Counterweight; 60. Rewinding wheel assembly; 70. Guide wheel assembly; 80. Force conversion meshing assembly; 90. Cable assembly; 11. Mounting slot; 12. Vertical through slot;
[0030] 31. U-shaped anti-collision beam; 32. Mounting base; 33. Buffer sliding rod; 331. Sliding rod body; 332. Spring;
[0031] 41. U-shaped spring steel plate; 42. W-shaped elastic plate;
[0032] 61. Support shaft; 62. First fixed seat; 63. Winding reel body;
[0033] 71. Guide shaft; 72. Second fixed seat; 73. Guide wheel body;
[0034] 81. Gear; 82. Rack;
[0035] 91. Cable body; 92. J-shaped hook; 93. Fixing hole. Detailed Implementation
[0036] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.
[0037] It should be noted that these figures are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.
[0038] Reference Figures 1-3 The present invention discloses an intelligent robot with anti-collision function, comprising: an intelligent robot body 1 with driving function, a bearing platform 2 connected to the upper plane of the intelligent robot body 1, anti-collision frame components 30 respectively provided on the front and rear sides of the intelligent robot body 1, elastic buffer beam components 40 respectively connected to the left and right sides, and a through mounting groove 11 provided on the intelligent robot body 1.
[0039] The anti-collision frame assembly 30 includes a U-shaped anti-collision beam 31, a mounting base 32, and two spaced buffer sliding rods 33. The mounting base 32 is connected to one end in the mounting groove 11. One end of the buffer sliding rod 33 passes through the mounting base 32 and is slidably connected to it. The other end of the buffer sliding rod 33 is connected to the U-shaped anti-collision beam 31, which is suitable for preventing the U-shaped anti-collision beam 31 from approaching the intelligent robot body 1 when it is impacted.
[0040] It also includes a constant reverse buffer mechanism, which is connected to the end of the buffer sliding rod 33 and is adapted to prevent the U-shaped anti-collision beam 31 from approaching the intelligent robot body 1 after being impacted.
[0041] The bottom of the mounting slot 11 is provided with two vertical through slots 12 spaced apart. The constant reverse buffer mechanism includes a counterweight 5, a winding wheel assembly 60, a guide wheel assembly 70, and a force conversion engagement assembly 80. The counterweight 5 is disposed in one of the vertical through slots 12, and there is a gap between the counterweight 5 and the inner wall of the vertical through slot 12. A cable assembly 90, which bypasses the guide wheel assembly 70, connects the counterweight 5 and the winding wheel assembly 60. When the U-shaped anti-collision beam 31 is impacted, it will displace towards the intelligent robot body 1, thereby causing the buffer sliding rod 33 to move synchronously. During this process, the force conversion engagement assembly 80 plays a role in converting the impact force borne by the U-shaped anti-collision beam 31 into the torque of the winding wheel assembly 60, driving the winding wheel assembly 60 to wind the cable assembly 90. At the same time, under the guiding and limiting action of the guide wheel assembly 70, the cable assembly 90 pulls the counterweight 5 upward. The gravitational potential energy of the counterweight 5 is converted into a reverse pulling force on the take-up wheel assembly 60. This pulling force is further converted into a reverse torque, which can directly counteract and balance the positive torque converted from the impact force. Through the closed-loop conversion mechanism formed by the force conversion meshing assembly 80, the U-shaped anti-collision beam 31 can obtain a constant and stable buffering capacity, thereby effectively achieving the anti-collision protection purpose of the intelligent robot and enhancing the anti-collision effect.
[0042] The take-up reel assembly 60 includes a support shaft 61 and first fixed seats 62 rotatably connected to its two ends. The first fixed seats 62 are respectively connected to the ends of corresponding buffer sliding rods 33. Two take-up reels 63 are fixedly connected to the outer circumference of the support shaft 61 at intervals. Driven by the buffer sliding rods 33, the first fixed seats 62 are displaced, and synchronously drive the support shaft 61 to move horizontally. The support shaft 61 further drives the two take-up reels 63 to achieve synchronous translation; at the same time, under the action of the force conversion engagement assembly 80, the support shaft 61 and the two take-up reels 63 rotate synchronously, and finally the take-up reels 63 wind the cable assembly 90.
[0043] The guide wheel assembly 70 includes a guide shaft 71 and a second fixed seat 72 rotatably connected to its two ends. The lower end of the second fixed seat 72 is connected to the bottom of the mounting groove 11. Two guide wheel bodies 73 are fixedly connected to the outer circle of the guide shaft 71. Since the cable assembly 90 is wound around the guide wheel body 73, the guide wheel body 73 guides the cable assembly 90 in the section between it and the counterweight 5 to be in a vertical state, preventing the cable assembly 90 from pulling the counterweight 5 and causing jamming between it and the vertical through groove 12.
[0044] The cable assembly 90 includes a cable body 91 that bypasses the guide wheel body 73 and a J-shaped hook 92 connected to one end of the cable body 91. The J-shaped hook 92 is connected to the upper surface of the counterweight 5. It also includes a fixing hole 93 on the take-up wheel body 63, with the other end of the cable body 91 passing through and being fixedly connected to it. One end of the cable body 91 is connected to the counterweight 5 via the J-shaped hook 92, and the other end is connected to the fixing hole 93 of the take-up wheel body 63. The counterweight 5 pulls the take-up wheel assembly 60 via the cable body 91.
[0045] The force conversion meshing assembly 80 includes a gear 81 and a rack 82 meshing with it. The rack 82 is connected to the bottom of the mounting groove 11, and the gear 81 is fixedly connected to the outer circle of the support shaft 61 and located between the two take-up wheels 63. The gear 81 and rack 82 are meshed together, a structure that converts the impact force borne by the U-shaped anti-collision beam 31 into a positive torque on the take-up wheels 63. At the same time, the gravitational potential energy of the counterweight 5 can be converted into a reverse torque on the take-up wheels 63. This reverse torque directly counteracts and dynamically balances the positive torque converted from the impact force. With this force balancing mechanism, the U-shaped anti-collision beam 31 can achieve constant and stable buffering performance, thereby efficiently realizing the anti-collision protection function of the intelligent robot and significantly enhancing the anti-collision effect and operational safety of the equipment.
[0046] The elastic buffer beam assembly 40 includes a U-shaped spring steel plate 41 and several spaced-apart W-shaped elastic plates 42. There is a gap between the U-shaped spring steel plate 41 and the corresponding side of the intelligent robot body 1. One end of each W-shaped elastic plate 42 is connected to the U-shaped spring steel plate 41, and the other end is connected to the intelligent robot body 1. When a moving object from the side impacts the U-shaped spring steel plate 41, the U-shaped spring steel plate 41 bends and deforms, achieving the purpose of buffering. Simultaneously, the U-shaped spring steel plate 41 transfers the impact force to the W-shaped elastic plates 42, thereby absorbing some of the kinetic energy and achieving the purpose of buffering.
[0047] The buffer sliding rod 33 includes a sliding rod body 331 and a spring 332 sleeved on its outer circumference. One end of the sliding rod body 331 passes through the mounting base 32, and the other end does not contact the U-shaped anti-collision beam 31. One end of the spring 332 is in contact with the mounting base 32, and the other end is in contact with the U-shaped anti-collision beam 31. When the U-shaped anti-collision beam 31 is subjected to a large impact force, the U-shaped anti-collision beam 31 will displace significantly towards the intelligent robot body 1. After the U-shaped anti-collision beam 31 comes into contact with the spring 332, the spring 332 is compressed and absorbs part of the kinetic energy, thereby enhancing the anti-collision capability of the intelligent robot.
[0048] The implementation principle of this embodiment is as follows: During use, the goods are placed on the carrying platform 2, and the intelligent robot body 1 can then drive and complete the goods transportation operation. When the robot body 1 experiences a sudden malfunction causing a collision with an object, the U-shaped anti-collision beam 31 in the anti-collision frame assembly 30 will first contact the impacting object. At this time, the constant reverse buffer mechanism connected to the end of the buffer sliding rod 33 immediately activates, generating a reverse force to prevent the U-shaped anti-collision beam 31 from shifting towards the intelligent robot body 1, thus achieving initial anti-collision protection. If the impact force on the U-shaped anti-collision beam 31 is large, it will shift towards the intelligent robot body 1. With the synergistic effect of the two buffer sliding rods 33, the buffer sliding rods 33 will further generate a reverse elastic force, secondary blocking the approach tendency of the U-shaped anti-collision beam 31. This dual anti-collision design significantly improves the overall anti-collision effect, effectively ensuring the safety of the robot body and the goods it carries.
[0049] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made using the content of this utility model specification, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.
Claims
1. An intelligent robot with anti-collision function, comprising: A smart robot body (1) with driving function, wherein a carrying platform (2) is connected to the upper plane of the smart robot body (1), characterized in that anti-collision frame components (30) are respectively provided on the front and rear sides of the smart robot body (1), and elastic buffer beam components (40) are respectively connected on the left and right sides, and a through mounting groove (11) is provided on the smart robot body (1). The anti-collision frame assembly (30) includes a U-shaped anti-collision beam (31), a mounting base (32), and two spaced buffer sliding rods (33). The mounting base (32) is connected to one end in the mounting groove (11). One end of the buffer sliding rod (33) passes through the mounting base (32) and is slidably connected to it. The other end of the buffer sliding rod (33) is connected to the U-shaped anti-collision beam (31), which is suitable for preventing the U-shaped anti-collision beam (31) from approaching the intelligent robot body (1) after being impacted. It also includes a constant reverse buffer mechanism, which is connected to the end of the buffer sliding rod (33) and is adapted to prevent the impacted U-shaped anti-collision beam (31) from approaching the intelligent robot body (1).
2. The intelligent robot with anti-collision function according to claim 1, characterized in that, The bottom of the mounting groove (11) is provided with two vertical through grooves (12) spaced apart. The constant reverse buffer mechanism includes a counterweight (5), a winding wheel assembly (60), a guide wheel assembly (70), and a force conversion engagement assembly (80). The counterweight (5) is set in one of the vertical through grooves (12). A cable assembly (90) that bypasses the guide wheel assembly (70) connects the counterweight (5) and the winding wheel assembly (60).
3. The intelligent robot with anti-collision function according to claim 2, characterized in that, The take-up wheel assembly (60) includes a support shaft (61) and a first fixed seat (62) rotatably connected to its two ends. The first fixed seat (62) is respectively connected to the end of the corresponding buffer sliding rod (33). Two take-up wheel bodies (63) are fixedly connected at intervals on the outer circle of the support shaft (61).
4. The intelligent robot with anti-collision function according to claim 3, characterized in that, The guide wheel assembly (70) includes a guide shaft (71) and a second fixed seat (72) rotatably connected to its two ends. The lower end of the second fixed seat (72) is connected to the bottom of the mounting groove (11). Two guide wheel bodies (73) are fixedly connected to the outer circle of the guide shaft (71).
5. The intelligent robot with anti-collision function according to claim 4, characterized in that, The cable assembly (90) includes a cable body (91) that passes around the guide wheel body (73) and a J-shaped hook (92) connected to one end of the cable body (91). The J-shaped hook (92) is connected to the upper surface of the counterweight (5). It also includes a fixing hole (93) provided on the winding wheel body (63). The other end of the cable body (91) passes through the fixing hole (93) and is fixedly connected to it.
6. The intelligent robot with anti-collision function according to claim 3, characterized in that, The force conversion meshing assembly (80) includes a gear (81) and a rack (82) meshing with it. The rack (82) is connected to the bottom of the mounting groove (11). The gear (81) is fixedly connected to the outer circle of the support shaft (61) and located between two winding wheels (63).
7. The intelligent robot with anti-collision function according to claim 1, characterized in that, The elastic buffer beam assembly (40) includes a U-shaped spring steel plate (41) and a number of W-shaped elastic plates (42) spaced apart. One end of the W-shaped elastic plate (42) is connected to the U-shaped spring steel plate (41), and the other end is connected to the intelligent robot body (1).
8. The intelligent robot with anti-collision function according to claim 1, characterized in that, The buffer sliding rod (33) includes a sliding rod body (331) and a spring (332) sleeved on its outer circle. One end of the sliding rod body (331) passes through the mounting base (32), and the other end does not contact the U-shaped anti-collision beam (31). One end of the spring (332) is in contact with the mounting base (32), and the other end is in contact with the U-shaped anti-collision beam (31).