Anti-collision mechanism and robot

Abstract

The present application relates to the technical field of robots, and discloses an anti-collision mechanism and a robot. The anti-collision mechanism comprises: a collision structure, wherein the collision structure comprises a through hole, and the through hole is arranged to be used for receiving a column body that attaches the collision structure to a robot body, so that the collision structure can rotate around the column body; and first elastic members, wherein one end of each first elastic member is connected to the collision structure, and the other end of the first elastic member is used for connecting to the robot body, so as to achieve a cushioning effect on the rotating collision structure. Because the anti-collision mechanism is provided with the collision structure capable of rotating relative to the robot body and the first elastic members used for achieving the cushioning effect on the collision structure, the anti-collision mechanism can provide a cushioning force when the robot undergoes a collision, effectively resisting an impact force generated during the collision, avoiding damage to components of the robot body, and ensuring reliable operation of the robot.

Description

A collision avoidance mechanism and robot

[0001] This application claims priority to Chinese Patent Application No. 202421843087.4, filed on July 31, 2024, entitled "An Anti-collision Mechanism and Robot", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of robotics, and more specifically, to a collision avoidance mechanism and a robot. Background Technology

[0003] During operation, robots (such as lawnmowers) may collide with obstacles, causing damage to the robot and affecting its normal use.

[0004] Anti-collision bars or bumpers are installed at the front of the robot body to prevent damage from collisions. However, in actual applications, these bars or bumpers are easily damaged and need to be replaced when the impact force is too large.

[0005] In conclusion, how to provide a collision avoidance mechanism that can withstand large impacts is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] In view of this, the purpose of this application is to provide a collision avoidance mechanism that can provide buffering force when the robot collides, resist the large impact force generated during the collision, and achieve effective collision avoidance for the robot body. Another purpose of this application is to provide a robot including the above-mentioned collision avoidance mechanism.

[0007] To achieve the above objectives, this application provides the following technical solution:

[0008] A collision avoidance mechanism, comprising:

[0009] A collision structure, the collision structure including a through hole arranged for receiving a column for attaching the collision structure to a robot body, such that the collision structure can rotate around the column;

[0010] A first elastic element, one end of which is connected to the collision structure and the other end of which is used to connect to the robot body, so as to form a buffering effect on the rotating collision structure.

[0011] In one implementation, the through hole is arranged such that the column can be displaced relative to the collision structure within the through hole along a first direction, the first direction being the front-rear direction of the collision structure.

[0012] In one implementation, the through hole is a rectangular hole;

[0013] Alternatively, the through hole is an elliptical hole;

[0014] Alternatively, the through hole is a rounded rectangular hole with rounded ends.

[0015] In one implementation, ribs are provided on both sides of the rear end of the collision structure. The ribs protrude from the rear end face of the collision structure and are used to contact the front wheel of the robot body when the collision structure rotates to its limit position.

[0016] In one implementation, the collision structure further includes:

[0017] The collision plate, with its front end designed to contact the obstacle;

[0018] The base is located at the rear end of the collision plate and has the through hole. The collision plate and the base are connected by a number of second elastic members.

[0019] In one implementation, the base includes a rod and a connecting portion connected to the rod, the connecting portion having the through hole and the first elastic element.

[0020] In one implementation, at least two first elastic elements are provided, and in a second direction, at least two of the first elastic elements are located on both sides of the through hole, wherein the second direction is the left-right direction of the collision structure.

[0021] In one implementation, the base is provided with a mounting hole, and at least a portion of the second elastic element is located within the mounting hole;

[0022] One end of the second elastic member is connected to the rear end face of the collision plate, and the other end of the second elastic member is connected to the bottom wall of the mounting hole.

[0023] In one implementation, the collision structure is provided with a detection element for detecting collisions, and the detection element is used to electrically connect to a control element provided on the robot body.

[0024] In one implementation, the number of detection elements is at least two, and a plurality of the detection elements are arranged sequentially along the length direction of the collision plate, and at least one detection element is arranged on each side of the longitudinal symmetry plane of the collision structure.

[0025] In one implementation, the detection element includes a Hall chip and a permanent magnet disposed opposite to the Hall chip, wherein the permanent magnet is provided on one of the collision plate and the base, and the Hall chip is provided at a corresponding position on the other.

[0026] This application also provides a robot, including a robot body and a collision avoidance mechanism as described in any of the above claims, wherein the collision avoidance mechanism is mounted on the robot body.

[0027] In one implementation, a mowing component is also included at the lower end of the robot body for performing mowing operations.

[0028] This application also provides a robot, including a robot body and a collision avoidance mechanism, the collision avoidance mechanism comprising:

[0029] A collision structure, wherein the front end of the collision structure is used to contact obstacles and the rear end is rotatably connected to the robot body;

[0030] A first elastic element, one end of which is connected to the collision structure and the other end of which is connected to the robot body, is used to buffer the collision structure when it is impacted by an obstacle and rotates.

[0031] In one implementation, the collision structure includes:

[0032] The collision plate, with its front end designed to contact the obstacle;

[0033] A base is located at the rear end of the collision plate. The collision plate and the base are connected by a number of second elastic elements. The base is rotatably connected to the robot body.

[0034] In one implementation, the base includes a rod and a connecting part connected to the rod, the connecting part being rotatably connected to the robot body, and the connecting part being provided with the first elastic element.

[0035] In one implementation, at least two first elastic elements are provided, and in a second direction, at least two of the first elastic elements are located on both sides of the rotational connection position between the collision structure and the main body, and the second direction is the left-right direction of the collision structure.

[0036] The anti-collision mechanism provided in this application includes a collision structure and a first elastic element. The collision structure includes a through hole for receiving a column to which the collision structure is attached to the robot body, allowing the collision structure to rotate around the column. When the robot collides, the collision structure first makes direct contact with the obstacle to protect the robot body. Then, with the cooperation of the column and the through hole, the collision structure can rotate around the column, that is, the collision structure can rotate relative to the robot body. One end of the first elastic element is connected to the collision structure, and the other end is connected to the body. When a collision causes the collision structure to rotate, the first elastic element can act as a buffer, preventing the force generated by the collision from being directly transmitted to the body, thus avoiding damage to the body or sensing components, achieving effective collision protection. It can also protect the collision structure from breakage when subjected to impact. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0038] Figure 1 is a schematic diagram of the anti-collision mechanism provided in this application;

[0039] Figure 2 is a schematic diagram of the structure of the base provided in this application;

[0040] Figure 3 is a front view of the base provided in this application;

[0041] Figure 4 is a schematic diagram of the anti-collision mechanism provided in this application connected to the robot body;

[0042] Figure 5 is a front view of the robot provided in this application;

[0043] Figure 6 is a front and rear sectional view of the robot provided in this application.

[0044] In Figures 1 to 6, the reference numerals include: 01, collision structure; 1, robot body; 2, first elastic element; 3, column; 4, base; 5, collision plate; 6, rib; 7, second elastic element; 8, positioning post; 9, Hall effect chip; 10, mowing assembly; 41, connecting part; 42, rod part; 411, through hole; 421, mounting hole. Detailed Implementation

[0045] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0046] The core of this application is to provide a collision avoidance mechanism that can provide buffering force during a collision, achieving effective collision avoidance and preventing structural damage caused by large impact forces. Another core aspect of this application is to provide a robot that includes the aforementioned collision avoidance mechanism.

[0047] The anti-collision mechanism provided in this application is attached to the robot body 1 to achieve effective collision avoidance, preventing damage to the robot body 1 or the sensing components on the body, and ensuring reliable operation of the robot when encountering obstacles. The robot body 1 here can be a vehicle body or frame, etc., depending on the actual installation situation. The anti-collision mechanism specifically includes a collision structure 01 and a first elastic element 2, please refer to Figures 1, 4, and 5 for details.

[0048] The collision structure 01 includes a through hole 411. The collision structure 01 is attached to the robot body 1 through the column 3. Specifically, the through hole 411 is used to receive the column 3. With the cooperation of the column 3 and the through hole 411, the collision structure 01 can rotate around the column 3. When a collision occurs, the collision structure 01 can rotate around the column 3 at a certain angle. Here, the column 3 is a rotation axis perpendicular to the forward direction of the robot body 1. If the forward direction of the robot body 1 is taken as the front-back direction (as shown by the dashed arrow in Figure 6), then the axis of the column 3 is the up-down direction (as shown by the solid arrow in Figure 6).

[0049] When a collision causes the collision structure 01 to rotate relative to the robot body 1, the first elastic element 2 provides effective buffering force, preventing the force generated by the collision from being directly transmitted to the robot body 1. The first elastic element 2 can be a spring, an elastic body, etc. Specifically, one end of the first elastic element 2 is connected to the collision structure 01, and the other end is used to connect to the robot body 1. When the collision structure 01 comes into contact with an obstacle in the robot's direction of travel and generates a large impact force, the first elastic element 2 is compressed to achieve buffering, resisting the large impact force on the collision structure 01, forming a buffering effect on the rotating collision structure 01, and preventing damage to the robot body 1 structure.

[0050] The first elastic element 2 can be set in one, two or more, and can be connected to the collision structure 01 and the robot body 1 to provide an effective buffering effect.

[0051] The first elastic element 2 can be connected to the robot body 1 at the front, rear, left, or right end of the robot body 1, depending on the specific structure and the location where the robot needs to avoid collisions. The first elastic element 2 can also be connected to the collision structure 01 at the rear, front, left, or right end, depending on the connection relationship between the collision structure 01 and the robot body 1.

[0052] For example, if the collision structure 01 is located at the front end of the robot body 1, then the first elastic element 2 is connected between the rear end of the collision structure 01 and the front end of the robot body 1. The main part that needs to be protected from collision is the front end of the robot body 1.

[0053] If the collision structure 01 is located at the rear end of the robot body 1, then the first elastic element 2 is connected between the front end of the collision structure 01 and the rear end of the robot body 1. The main part that needs to be protected from collisions is the rear end of the robot body 1.

[0054] Taking the first elastic element 2 connected between the rear end of the collision structure 01 and the front end of the robot body 1 as an example, when the front end of the collision structure 01 is hit by an obstacle, the collision structure 01 moves to the rear end and rotates relative to the robot body 1 under the cooperation of the through hole 411 and the column 3, causing the first elastic element 2 to be compressed and providing a buffering force. In this case, when the collision structure 01 is impacted, the first elastic element 2 forms a buffering effect on the collision structure 01 that is impacted by the obstacle and rotates to resist the impact force, preventing the impact force generated by the collision from being directly transmitted to the robot body 1, thereby effectively protecting the robot body 1 and preventing the robot body 1 from being damaged by the impact.

[0055] Based on the above embodiment, the through hole 411 is arranged so that the column 3 can be displaced relative to the collision structure 01 in the through hole 411 along a first direction, the first direction being the front-back direction of the collision structure 01.

[0056] Please refer to Figures 1 and 4. The column 3 passes through the through hole 411, and there is a gap between the through hole 411 and the column 3, allowing the column 3 to shift along the front-back direction of the collision structure 01, as shown by the dashed arrow in Figure 4. During a collision, the through hole 411 allows the column 3 to shift relative to the collision structure 01 within the through hole 411 along the first direction. Specifically, the collision structure 01 and the column 3 shift relative to each other. This causes the collision structure 01 to shift, and the first elastic element 2 to be compressed to provide a buffering effect, resisting the impact force generated during the collision.

[0057] Based on any of the above embodiments, the through hole 411 is a rectangular hole;

[0058] Alternatively, through hole 411 can be an elliptical hole;

[0059] Alternatively, through hole 411 is a rounded rectangular hole with rounded ends.

[0060] Please refer to Figures 1 and 4. With the condition that there is a gap between the through hole 411 and the column 3, the collision structure 01 is provided with a space for movement. The column 3 is connected to the robot body 1.

[0061] The through hole 411 can be a rectangular hole through which the column 3 passes. In the event of a collision, the rectangular hole can be displaced relative to the column 3.

[0062] The through hole 411 can be an elliptical hole through which the column 3 passes. In the event of a collision, the elliptical hole can be displaced relative to the column 3.

[0063] The through hole 411 can be a rounded rectangular hole with rounded ends, such as an oblong hole. The column 3 passes through the oblong hole, and the elliptical hole can be displaced relative to the column 3 when a collision occurs.

[0064] The specific forms of the above three hole positions correspond to the structure of the column 3 as a cylinder. The collision structure 01 can be rotated by the cooperation of the column 3 and the through hole 411 to compress the first elastic element 2.

[0065] Taking one specific implementation as an example, as shown in Figure 6, the column 3 can be a bolt. The bolt is fixed on the robot body 1 and extends into the through hole 411. It can be connected to the robot body 1 by the thread of the bolt. The structure is simple, the cost is low, and it is easy and convenient to use.

[0066] Taking one specific implementation as an example, the through hole 411 is an elliptical through hole, with the major axis of the ellipse along the forward and backward direction of the robot body 1, allowing the collision structure 01 to move in the forward and backward direction of the robot to compress the first elastic member 2. Please refer to Figure 4. Specifically, the two positions along the major axis of the ellipse correspond to the two extreme positions of the movement of the collision structure 01. When the rear end of the through hole 411 and the column 3 are engaged in Figure 4, there is no obstacle, and the robot moves normally. When an obstacle is encountered, the obstacle collides with the front end of the collision structure 01, causing the engagement point between the column 3 and the through hole 411 to move from the rear end to the front end in Figure 4. The collision structure 01 rotates, and the first elastic member 2 is compressed to provide a buffering force.

[0067] Based on any of the above embodiments, the rear ends of the collision structure 01 are provided with ribs 6 on both sides. The ribs 6 protrude from the rear end face of the collision structure 01 and are used to contact the front wheel of the main body 1 when the collision structure 01 rotates to the limit position.

[0068] Please refer to Figures 1 and 4. Taking the collision structure 01 located at the front end of the robot body 1 as an example, the rear end of the collision structure 01 is provided with a rib 6. The rib 6 protrudes from the rear end face of the collision structure 01. When the front end of the collision structure 01 contacts the obstacle and rotates to the limit position, the rib 6 moves towards the front wheel of the robot body 1. This movement can make the rib 6 contact the front wheel.

[0069] By setting the ribs 6, the strength of the collision structure 01 is enhanced on the one hand, and on the other hand, when the collision structure 01 rotates to the limit position and contacts the front wheel of the robot body 1, the ribs 6 can contact the wheel to prevent the front wheel from rotating and block the collision structure 01 from continuing to rotate, so as to avoid damage to the collision structure 01 and prevent the robot body 1 from continuing to move forward when a collision occurs, thus ensuring the reliability of the robot's operation when a collision occurs.

[0070] Optionally, the height of the multiple ribs 6 protruding from the rear end face of the collision structure 01 is not limited; they can be kept consistent or partially inconsistent, and can be flexibly set according to the actual situation.

[0071] Based on any of the above embodiments, the collision structure 01 further includes:

[0072] Collision plate 5, the front end of which is used to contact the obstacle;

[0073] The base 4 is located at the rear end of the collision plate 5 and has a through hole 411. The collision plate 5 and the base 4 are connected by a number of second elastic members 7.

[0074] Please refer to Figures 1 and 4. The collision structure 01 specifically includes a collision plate 5 and a base 4. The front end of the collision plate 5 is used to contact the obstacle, and the rear end of the collision plate 5 is provided with the base 4. The base 4 is rotatably connected to the column 3 of the robot body 1, and the collision plate 5 is elastically connected to the base 4 through the second elastic element 7.

[0075] The collision plate 5 and the base 4 are connected by several second elastic elements 7. Under the premise of ensuring the connection between the collision plate 5 and the base 4, the second elastic elements 7 are set to achieve effective buffering and anti-collision during the collision, ensuring reliable protection for the robot body 1.

[0076] Optionally, the second elastic element 7 is disposed between the front end of the base 4 and the rear end of the collision plate 5 to achieve effective buffering and collision prevention during a collision by compressing the second elastic element 7.

[0077] Optionally, the second elastic element 7 is disposed within the base 4 and between the rear end of the collision plate 5, so as to achieve effective buffering and anti-collision during the collision by compressing the second elastic element 7.

[0078] Based on any of the above embodiments, the base 4 includes a rod portion 42 and a connecting portion 41 connected to the rod portion 42. The connecting portion 41 is provided with a through hole 411 and a first elastic member 2.

[0079] Please refer to Figures 1 and 2. The base 4 includes a rod 42 and a connecting part 41 connected to the rod 42. The connecting part 41 is provided with a through hole 411 for receiving the column 3. The rod 42 is connected to the collision plate 5.

[0080] A first elastic element 2 is provided on the connecting part 41. The first elastic element 2 is connected to the connecting part 41 and the robot body 1, and provides a buffering effect when a collision occurs.

[0081] In this embodiment, the specific structural form and size of the connecting part 41 are not limited, and can be flexibly set according to actual installation requirements and operating conditions.

[0082] Optionally, to enhance the strength of the collision structure 01, ribs 6 may also be provided on the connecting part 41.

[0083] Based on any of the above embodiments, at least two first elastic elements 2 are provided. In the second direction, at least two first elastic elements 2 are located on both sides of the through hole 411. The second direction is the left-right direction of the collision structure 01.

[0084] Please refer to Figure 4. At least two first elastic elements 2 are provided. In the second direction, at least two first elastic elements 2 are located on both sides of the through hole 411. The second direction here is specifically the left and right direction of the collision structure 01, that is, the direction shown by the solid arrow in Figure 4.

[0085] In this embodiment, at least two first elastic elements 2 can be symmetrically arranged on both sides of the through hole 411, or different numbers of first elastic elements 2 can be arranged on both sides of the through hole 411 in the second direction according to the actual situation.

[0086] Taking two first elastic elements 2 as an example, please refer to Figures 1 and 4. The two first elastic elements 2 are located on both sides of the through hole 411. When a collision occurs, the first elastic elements 2 are compressed to provide buffering force when the collision structure 01 rotates, thereby effectively preventing collisions to the robot body 1.

[0087] Based on any of the above embodiments, the rear end of the base 4 is provided with a positioning post 8 for connecting the first elastic element 2 and the robot body 1, and there is a gap between the positioning post 8 and the rear end of the base 4. Referring to Figures 3 and 4, the first elastic element 2 is located between the rear end of the collision structure 01 and the robot body 1. The first elastic element 2 provides a buffering force during collision, reduces the impact on the robot body 1, and ensures the reliability of the robot body 1.

[0088] A positioning post 8 is provided at the rear end of the base 4 and is connected to the robot body 1. The axial direction of the positioning post 8 is consistent with the forward direction of the robot body 1.

[0089] Taking one specific embodiment as an example, the first elastic element 2 is specifically a spring, which is sleeved on the positioning post 8. One end of the first elastic element 2 is connected to the rear end of the connecting part of the base 4, and the other end is connected to or abuts against the front end of the robot body 1. It should be noted that if the other end of the first elastic element 2 abuts against the front end of the robot body 1, the positioning post 8 can limit the first elastic element 2 to prevent it from falling off the positioning post 8 and affecting the connection between the collision structure 01 and the robot body 1.

[0090] In another specific embodiment, the first elastic element 2 is specifically a spring. One end of the first elastic element 2 is connected to the positioning post 8, and the other end is connected to the rear end of the connecting part of the base 4. In the event of a collision, the first elastic element 2 can also be compressed to achieve a buffering effect.

[0091] There is a gap between the rear end of the positioning post 8 and the base 4, which provides working space for the compression deformation of the first elastic element 2 and achieves effective buffering.

[0092] Based on any of the above embodiments, the base 4 is provided with a mounting hole 421, and at least a portion of the second elastic member 7 is located within the mounting hole 421;

[0093] One end of the second elastic member 7 is connected to the rear end face of the collision plate 5, and the other end of the second elastic member 7 is connected to the bottom wall of the mounting hole 421.

[0094] Please refer to Figures 2 and 4. The base 4 is provided with mounting holes 421. The second elastic element 7 is located in the mounting holes 421. The second elastic element 7 provides buffering force to avoid damage to the collision structure 01 and provides effective buffering force for the robot body 1 to prevent collisions.

[0095] At least a portion of the second elastic member 7 is located within the mounting hole 421, which may be slightly larger to facilitate the installation and removal of the second elastic member 7.

[0096] The second elastic member 7 is at least partially located within the mounting hole 421, meaning that the second elastic member 7 can be fully inserted into the mounting hole 421 and connected to the rear end face of the collision plate 5; or it can be partially inserted into the mounting hole 421 and partially exposed within the mounting hole 421 and connected to the rear end face of the collision plate 5.

[0097] Specifically, one end of the second elastic member 7 is connected to the rear end face of the collision plate 5. The rear direction of the rear end face of the collision plate 5 is consistent with the rear direction of the collision structure 01 (the direction shown by the dashed arrow in Figure 4). The other end of the second elastic member 7 is connected to the bottom wall of the mounting hole 421. When a collision occurs, the second elastic member 7 is compressed to provide buffering force, which can prevent the collision force from being directly transmitted to the robot body 1, thus avoiding damage to the body or sensing components, and achieving effective collision avoidance.

[0098] Based on any of the above embodiments, the collision structure 01 is provided with a detection element for detecting collisions, and the detection element is used to electrically connect to the control element provided on the robot body 1.

[0099] When a collision occurs, since the location of the obstacle is unknown in advance, the collision structure 01 will be impacted at different locations. To facilitate the backend personnel to monitor the collision information or to facilitate the determination of the obstacle's location and other operational needs, a detection element for detecting collisions is installed on the collision structure 01.

[0100] In one specific implementation, a detection element may be configured to determine that a collision has occurred and send a signal to a control element, which receives the information from the detection element to determine that a collision has occurred.

[0101] In another implementation, two or more detection elements are provided to determine the location of the collision. The detection elements can send the signals generated when two or more detection elements collide to a control element provided on the robot body 1. The control element performs comparative analysis to determine the location of the collision.

[0102] For example, multiple pressure sensors can be set at different locations on the collision structure 01, and the location of the main collision can be determined by comparing the values ​​of the pressure sensors.

[0103] For example, an inductive proximity switch or a magnetic Hall chip 9 can be installed on one of the collision plate 5 and the base 4, and a metal sheet or magnetic sheet can be installed on the other. When a collision occurs, the collision plate 5 and the base 4 approach each other to generate a signal, which is sent to the control element so that the control element can analyze and determine the location of the collision.

[0104] Based on any of the above embodiments, the number of detection elements is at least two, and a plurality of detection elements are arranged sequentially along the length direction of the collision plate 5, and at least one detection element is arranged on each side of the longitudinal symmetry plane of the collision structure 01.

[0105] At least two detection elements are arranged sequentially along the length of the collision plate 5. Each detection element corresponds to a collision position. The collision position is determined by the information collected by the control element on the robot body 1 from the detection elements. Each detection element can be numbered and correspond to different collision positions of the collision structure 01, so that the control element can quickly analyze and obtain the collision position.

[0106] As shown in Figure 4, at least one detection element is provided on each side of the symmetry plane of the collision structure 01. Taking the longitudinal plane in the middle of the collision structure 01 as the symmetry plane, at least one detection element is provided on each side of the symmetry plane to determine whether the collision occurs on the left and / or right side of the symmetry plane.

[0107] Based on any of the above embodiments, the detection element includes a Hall chip 9 and a permanent magnet disposed opposite to the Hall chip 9. One of the collision plate 5 and the base 4 is provided with a permanent magnet, and the corresponding position of the other is provided with a Hall chip 9.

[0108] The detection element includes a Hall chip 9, and a permanent magnet is positioned opposite to the Hall chip 9. When the permanent magnet approaches the Hall chip 9, the Hall chip 9 senses the magnetic field, thereby generating a collision signal, which is then sent back to the control element to determine the location of the collision.

[0109] In one implementation, detection elements are located on the left and right sides of the collision structure 01, corresponding to the left and right sides of the robot body 1 in the direction of travel. A permanent magnet is mounted on the collision plate 5, and a Hall chip 9 is positioned correspondingly on the base 4. When the collision plate 5 is compressed and moves towards the base 4, the Hall chip 9 outputs a collision signal. Since there is one detection element on each side, the control element can identify the location of the collision—whether it is on the left, right, or both sides—based on the collision signal.

[0110] This application provides a robot with a collision avoidance mechanism, the robot comprising:

[0111] The anti-collision mechanism is any of the anti-collision mechanisms described above.

[0112] Robot body 1, the anti-collision mechanism is installed on robot body 1.

[0113] The anti-collision mechanism is installed on the robot body 1. When the robot is hit by a collision, the anti-collision mechanism first contacts the obstacle to protect the robot body 1 and ensure the normal use of the robot.

[0114] Based on the above embodiment, the robot also includes a mowing component 10 disposed at the lower end of the robot body 1 for performing mowing operations. When the robot body 1 moves, the mowing component 10 moves to perform the mowing operation.

[0115] Based on the above embodiment, a rotating block is provided on either the inner wall of the through hole 411 or the column 3, and a spiral groove is provided on the other. The spiral groove and the rotating block cooperate to limit the rotation angle of the collision structure 01.

[0116] In this embodiment, in order to limit the rotation angle of the collision structure 01 and prevent its maximum rotation range from contacting the front wheel, a spiral groove and a rotating block that can rotate spirally within the spiral groove are provided. The angle of the spiral groove corresponds to the rotation angle of the collision structure 01.

[0117] A rotating block is provided on either the inner wall of the through hole 411 or the column 3, and a spiral groove is provided on the other. The specific arrangement can be determined based on the actual installation requirements, with the goal of simple processing and achieving the desired effect.

[0118] This application also provides a robot including a robot body 1 and a collision avoidance mechanism, wherein the collision avoidance mechanism includes a collision structure 01 and a first elastic element 2.

[0119] The front end of the collision structure 01 is used to contact obstacles, and the rear end is rotatably connected to the robot body 1. When it encounters an obstacle, the collision structure 01 rotates due to the impact of the obstacle. The first elastic member 2 connected between the collision structure 01 and the robot body 1 can provide a buffering effect for the impacted collision structure 01 to resist the large impact force generated during the collision, thereby achieving effective collision avoidance for the robot.

[0120] Based on the above embodiments, the collision structure 01 includes:

[0121] Collision plate 5, the front end of which is used to contact the obstacle;

[0122] The base 4 is located at the rear end of the collision plate 5. The collision plate 5 and the base 4 are connected by several second elastic members 7. The base 4 is rotatably connected to the robot body 1.

[0123] Please refer to Figures 1 and 4. The collision structure 01 specifically includes a collision plate 5 and a base 4. When encountering an obstacle, the collision plate 5 comes into direct contact with the obstacle and the impact force is transmitted to the base 4, causing the collision structure 01 to rotate relative to the robot body 1 to protect the robot body 1. When the collision plate 5 is impacted, the second elastic element 7 between the collision plate 5 and the base 4 can effectively buffer the impact, preventing the collision structure 01 from breaking under impact force and ensuring reliable and effective collision protection for the robot body 1.

[0124] Based on any of the above embodiments, the base 4 includes a rod 42 and a connecting part 41 connected to the rod 42. The connecting part 41 is rotatably connected to the robot body 1, and a first elastic member 2 is provided on the connecting part 41.

[0125] Please refer to Figures 1 and 2. The base 4 includes a rod 42 and a connecting part 41 connected to the rod 42. The connecting part 41 is rotatably connected to the robot body 1. Taking one specific embodiment as an example, the connecting part 41 is connected between the middle position of the rod 42 and the middle position of the robot body 1. When a collision occurs, the collision structure 01 rotates relative to the robot body 1, and the rod 42 rotates towards the front wheel. The first elastic member 2 on the connecting part 41 provides a buffer when the collision structure 01 rotates, ensuring reliable and effective protection for the robot body 1.

[0126] Based on any of the above embodiments, at least two first elastic elements 2 are provided. In the second direction, at least two first elastic elements 2 are located on both sides of the rotational connection position between the collision structure 01 and the main body 1. The second direction is the left-right direction of the collision structure 01.

[0127] Please refer to Figure 4. At least two first elastic elements 2 are provided. In the second direction, at least two first elastic elements 2 are located on both sides of the rotational connection position between the collision structure 01 and the robot body 1. The second direction here is specifically the left and right direction of the collision structure 01, that is, the direction shown by the solid arrow in Figure 4.

[0128] In this embodiment, under one specific implementation, in the second direction, at least two first elastic members 2 may be symmetrically arranged on both sides of the rotational connection position between the collision structure 01 and the robot body 1; under another specific implementation, in the second direction, different numbers of first elastic members 2 are arranged on both sides of the rotational connection position between the collision structure 01 and the robot body 1.

[0129] When a collision occurs, the first elastic element 2 is compressed to provide a buffering effect when the collision structure 01 rotates under impact, thereby effectively preventing the robot body 1 from being hit and protecting the collision structure 01 from breaking due to impact.

[0130] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0131] The above provides a detailed description of the anti-collision mechanism and robot provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this application. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A collision avoidance mechanism, characterized by, The application relates to a collision structure (01) comprising a through hole (411) arranged for receiving a column (3) for attaching the collision structure (01) to a robot body (1) so that the collision structure (01) can rotate around the column (3); a first elastic member (2) having one end connected to the collision structure (01) and the other end used for connecting the robot body (1) to form a buffering effect on the rotating collision structure (01). The through hole (411) is arranged to enable the column (3) to be displaced in a first direction relative to the collision structure (01) within the through hole (411), the first direction being the front-back direction of the collision structure (01). The through hole (411) is a rectangular hole.

2. The crash avoidance mechanism of claim 1, wherein, Or, the through hole (411) is an oval hole.

3. The crash avoidance mechanism of claim 2, wherein, Or, the through hole (411) is a round rectangular hole with circular arcs at two ends. The collision structure (01) is provided with a rib (6) on both sides of the rear end of the collision structure (01), the rib (6) protruding from the rear end face of the collision structure (01) and being used for contacting the front wheel of the robot body (1) when the collision structure (01) rotates to a limit position. The collision structure (01) further comprises:

4. The crash avoidance mechanism of claim 1, wherein, a collision plate (5) having a front end used for contacting an obstacle; 5. The crash mechanism according to any one of claims 1 to 4, characterized in that a base (4) provided at the rear end of the collision plate (5) and provided with the through hole (411), the collision plate (5) and the base (4) being connected by a plurality of second elastic members (7). The base (4) comprises a rod portion (42) and a connecting portion (41) connected to the rod portion (42), the connecting portion (41) being provided with the through hole (411), and the connecting portion (41) being provided with the first elastic member (2). The first elastic member (2) is provided with at least two first elastic members (2) located on both sides of the through hole (411) in a second direction, the second direction being the left-right direction of the collision structure (01).

6. The crash avoidance mechanism of claim 5, wherein, The base (4) is provided with a mounting hole (421), and at least part of the second elastic member (7) is located in the mounting hole (421).

7. The crash avoidance mechanism of claim 1, wherein, One end of the second elastic member (7) is connected to the rear end face of the collision plate (5), and the other end of the second elastic member (7) is connected to the bottom wall face of the mounting hole (421).

8. The crash avoidance mechanism of claim 5, wherein, The collision structure (01) is provided with a detection element for detecting collision, and the detection element is used for electrically connecting a control element provided on the robot body (1). The number of the detection elements is at least two, and a plurality of the detection elements are sequentially arranged along the length direction of the collision plate (5), and at least one detection element is arranged on each side of the longitudinal symmetry plane of the collision structure (01).

9. The crash avoidance mechanism of claim 8, wherein, The detection element comprises a Hall chip (9) and a permanent magnet arranged opposite to the Hall chip (9), one of the collision plate (5) and the base (4) is provided with the permanent magnet, and the corresponding position of the other is provided with the Hall chip (9).

10. The crash avoidance mechanism of claim 9, wherein, ​ 11. The crash avoidance mechanism of claim 10, wherein, ​ 12. A robot, characterized in that The robot body (1) and the anti-collision mechanism of any one of claims 1-11 are included, and the anti-collision mechanism is installed on the robot body (1).

13. The robot of claim 12, wherein, A mowing assembly (10) is further included and arranged at the lower end of the robot body (1) to perform cutting work.

14. A robot, characterized in that The robot body (1) and the anti-collision mechanism are included, and the anti-collision mechanism comprises: A collision structure (01) is provided, and the front end of the collision structure (01) is used to contact the obstacle, and the rear end is rotationally connected with the robot body (1); A first elastic member (2) is connected at one end to the collision structure (01) and at the other end to the robot body (1), so as to form a buffering effect on the collision structure (01) which is impacted by the obstacle and rotates.

15. The robot of claim 14, wherein, The collision structure (01) comprises: A collision plate (5) is provided, and the front end of the collision plate (5) is used to contact the obstacle; A base (4) is arranged at the rear end of the collision plate (5), and the collision plate (5) and the base (4) are connected by a plurality of second elastic members (7), and the base (4) is rotationally connected with the robot body (1).

16. The robot of claim 15, wherein, The base (4) comprises a rod portion (42) and a connecting portion (41) connected with the rod portion (42), the connecting portion (41) is rotationally connected with the robot body (1), and the first elastic member (2) is arranged on the connecting portion (41).

17. The robot according to any one of claims 14 to 16, characterized in that, At least two first elastic members (2) are arranged, and in a second direction, at least two first elastic members (2) are located on both sides of the rotationally connected position of the collision structure (01) and the main body (1), and the second direction is the left-right direction of the collision structure (01).

Images