A robot end effector anti-collision device

Abstract

The utility model discloses a kind of robot terminal anti-collision devices, the robot terminal includes radiation head, further include support, the support is set in the end of the radiation head;The top of the support is provided with printed circuit board, the printed circuit board is provided with conductive circuit, the conductive circuit is connected with robot control device through detection circuit after parallel resistance;The outside of the printed circuit board is provided with conductive silica gel pad;The outside of the conductive silica gel pad is provided with shell.The utility model realizes that physical detection precision is high by the cooperation of printed circuit board and conductive silica gel pad, can rapidly trigger stop mechanism in the instant of collision occurrence, effectively avoid collision accident.And detection process is automated, response time is short, can effectively reduce collision risk, simultaneously, without using electronic filter or timer detection mechanism, eliminate noise interference, can be earlier accidental collision identification.

Description

Technical Field

[0001] This utility model relates to the technical field of medical devices, specifically to a robot terminal anti-collision device. Background Technology

[0002] With the continuous development of robotics technology, robots are increasingly being used in the field of medical devices. However, robots may collide with surrounding objects during operation, leading to equipment damage, reduced work efficiency, or even safety accidents. Therefore, ensuring the safety of robot movement in complex environments is crucial for achieving efficient and stable operation in existing robotic radiotherapy processes.

[0003] Existing collision avoidance technologies primarily rely on sensor detection and software algorithm control, but these methods suffer from issues such as detection delays, false alarms, and installation space limitations. Collision avoidance devices generally depend on electronic filters or timers, which are susceptible to interference from motor acceleration and deceleration noise, leading to collision detection lags. Single protective measures are insufficient to cope with complex working conditions, and some devices have a design flaw of being "unable to detach," increasing the risk of secondary damage after a collision. Furthermore, some collision avoidance structures require additional assembly space due to their bulky design, or their reliance on mechanical system parameters limits their adaptability, further increasing application costs. Utility Model Content

[0004] To address the aforementioned issues, this invention provides a robot terminal anti-collision device with a simple structure that uses physical contact detection to quickly trigger a stop mechanism the instant a collision occurs, effectively preventing collision accidents.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows: a robot terminal anti-collision device, wherein the robot terminal includes a radiating head and a bracket, the bracket being disposed at the end of the radiating head; a printed circuit board is disposed at the top of the bracket, a conductive circuit is disposed on the printed circuit board, the conductive circuit is electrically connected to a robot control device via a detection circuit after being connected in parallel with a resistor; a conductive silicone pad is disposed on the outside of the printed circuit board; and a shell is disposed on the outside of the conductive silicone pad.

[0006] As a preferred technical solution of this utility model: the conductive silicone pad includes a silicone matrix, and multiple sets of conductive fillers are disposed within the silicone matrix.

[0007] As a preferred technical solution of this utility model, the conductive filler is carbon black.

[0008] As a preferred technical solution of this utility model, the resistance value of the resistor is 500Ω.

[0009] As a preferred technical solution of this utility model: the bracket includes a base, and the top of the base is provided with multiple sets of radially distributed support frames; the top of the base and the multiple sets of support frames cooperate to install the printed circuit board.

[0010] As a preferred technical solution of this utility model, the outer shell is made of silicone.

[0011] This utility model has the following beneficial effects:

[0012] 1. By using a printed circuit board and conductive silicone pads together, high physical detection accuracy is achieved, enabling a rapid triggering of the stop mechanism at the moment of collision, effectively preventing collision accidents. Furthermore, the detection process is automated with a short response time, effectively reducing the risk of collisions. Simultaneously, the detection mechanism eliminates the need for electronic filters or timers, eliminating noise interference and allowing for earlier identification of accidental collisions.

[0013] 2. The conductive silicone pad has good flexibility and can work stably in various complex environments.

[0014] 3. The silicone shell has good flexibility and high temperature resistance, which can buffer the impact of collisions and protect the internal structure. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0016] Figure 2 for Figure 1 Internal structure diagram;

[0017] Figure 3 for Figure 1 Top view;

[0018] Figure 4 for Figure 1 The main view;

[0019] Figure 5 This is a schematic diagram of the overall structure of this utility model in use;

[0020] Figure 6 for Figure 5 Isometric views of the upper and lower sides;

[0021] Figure 7 for Figure 5 The main view;

[0022] Figure 8 This is a schematic diagram of the printed circuit board structure;

[0023] Figure 9 for Figure 8 Top view;

[0024] Figure 10 for Figure 9 A sectional view along the AA direction;

[0025] Figure 11 This is a schematic diagram of the overall structure of the conductive silicone pad;

[0026] Figure 12 for Figure 11 Top view;

[0027] Figure 13 for Figure 11 EE direction sectional view;

[0028] Figure 14 for Figure 11 A cross-sectional view in the FF direction;

[0029] Figure 15 Overall schematic diagram of the support structure;

[0030] Figure 16 for Figure 15 The main view;

[0031] Figure 17 for Figure 15 Top view;

[0032] Figure 18 for Figure 15 The left view;

[0033] Figure 19 This is a schematic diagram of the overall structure of this utility model when it is installed on the radiator head;

[0034] Figure 20 for Figure 19 The left view;

[0035] Figure 21 for Figure 19 The right view.

[0036] Figures 1 to 21 In the middle: 1. Radiation head; 2. Support; 3. Printed circuit board; 4. Resistor; 5. Conductive silicone pad; 6. Treatment bed; 7. Outer shell; 8. Silicone matrix; 9. Conductive filler; 10. Base; 11. Support frame; 12. Connecting screw; 13. Collimator; 14. Screw hole; 15. Robot. Detailed Implementation

[0037] To make the objectives and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0038] like Figures 1-10As shown, this embodiment of the utility model provides a robot terminal anti-collision device. The robot terminal includes a radiating head 1 and a bracket 2, which is mounted on the radiating head 1, i.e., the bracket 2 is installed at the end of the radiating head 1. A printed circuit board 3 is provided at the top of the bracket 2. A conductive circuit is provided on the printed circuit board 3. A resistor 4 is connected in parallel to the conductive circuit and then electrically connected to the control device of the robot 15 through a detection circuit. In this embodiment, the resistance value of the resistor 4 is preferably 500Ω. In practical applications, according to the prior art, the resistor 4 component is determined based on the conductive circuit and the detection circuit, which can meet the requirement of the detection circuit monitoring the continuity of the conductive circuit in real time. A conductive silicone pad 5 is provided on the outside of the printed circuit board 3. When the radiating head 1 comes into contact with an external object, i.e., a patient on the treatment bed 6, the conductive silicone pad 5 is squeezed. The squeezed conductive silicone pad 5 forms a circuit with the conductive circuit on the printed circuit board 3. The detection circuit detects the change in the conductive circuit circuit and sends a corresponding electrical signal to the control device. The control device issues a command to stop the robot 15. Through physical contact detection, the accuracy is high, and the stopping mechanism can be quickly triggered at the moment of collision, effectively avoiding collision accidents. The conductive silicone pad 5 is surrounded by a soft outer shell 7 to cushion impact forces and protect the internal structure. This embodiment features a simple structure, automated detection process, and short response time, effectively reducing the risk of collision.

[0039] like Figures 11-14 As shown, the conductive silicone pad 5 is disposed inside the housing 7 and is tightly fitted to the housing 7. It includes a silicone matrix 8 and a conductive filler 9, with the conductive filler 9 filling the silicone matrix 8. The conductive filler 9 is silver powder, nickel powder, or conductive carbon black; in this embodiment, conductive carbon black is preferred. Silicone and conductive carbon black are low-cost and suitable for large-scale applications. The conductive silicone pad 5 has good flexibility and can work stably in various complex environments.

[0040] like Figures 15-21As shown, the bracket 2 includes a base 10, with multiple sets of radially distributed support frames 11 at the top of the base 10. The top of the base 10 and the multiple sets of support frames 11 cooperate to mount the printed circuit board 3. A connecting screw 12 is provided in the middle of the base 10 to better fix the printed circuit board 3 to the base 10. At the same time, multiple sets of screw holes 14 are provided on the base 10 and the support frames 11 according to the actual situation to connect the printed circuit board 3 to the base 10 and the support frames 11. The number of support frames 11 is determined according to the actual installation space. For example, in this embodiment, the radiating head 1 is provided with three sets of collimators 13, the base 10 is located in the middle of the three sets of collimators 13, and the support frames 11 are distributed between two adjacent collimators 13. The shape of the outer shell 7 and the shape of the printed circuit board 3 are customized according to the shape of the bracket 2. This reduces the limitation of installation space. The outer shell 7 is preferably a silicone shell 7, which wraps around the surface of the bracket 2. The silicone shell 7 has good flexibility and high temperature resistance, which can buffer the impact force and protect the internal structure.

[0041] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this utility model, it should be noted that unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0042] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A robot terminal anti-collision device, wherein the robot (15) terminal includes a radiating head (1), characterized in that: It also includes a bracket (2), which is disposed at the end of the radiating head (1); a printed circuit board (3) is disposed at the top of the bracket (2), and a conductive circuit is disposed on the printed circuit board (3). The conductive circuit is connected in parallel with a resistor (4) and then electrically connected to the robot (15) control device through a detection circuit; a conductive silicone pad (5) is disposed on the outside of the printed circuit board (3); and a shell (7) is disposed on the outside of the conductive silicone pad (5).

2. The anti-collision device for a robot terminal according to claim 1, characterized in that: The conductive silicone pad (5) includes a silicone substrate (8), and multiple sets of conductive fillers (9) are disposed within the silicone substrate (8).

3. The anti-collision device for a robot terminal according to claim 2, characterized in that: The conductive filler (9) is carbon black.

4. The anti-collision device for a robot terminal according to claim 1, characterized in that: The resistance of the resistor (4) is 500Ω.

5. The anti-collision device for a robot terminal according to claim 1, characterized in that: The bracket (2) includes a base (10), and the top of the base (10) is provided with multiple sets of radially distributed support frames (11); the top of the base (10) and the multiple sets of support frames (11) cooperate to install the printed circuit board (3).

6. A robot terminal anti-collision device according to any one of claims 1-5, characterized in that: The outer shell (7) is made of silicone.

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