Collision protection apparatus for mobile mechanical arm, and mobile mechanical arm

Abstract

A mobile mechanical arm (1000) and a collision protection apparatus (100) for the mobile mechanical arm. The collision protection apparatus comprises a sensing tube (10), the sensing tube being attached to the mobile mechanical arm and internally containing a sensing fluid; a pressure sensor (20), the pressure sensor sensing the pressure of the sensing fluid in the interior of the sensing tube; and a control apparatus (30), the control apparatus controlling the movement of the mobile mechanical arm and receiving a pressure signal from the pressure sensor. When a collision occurs, the sensing tube transitions from an initial state to a deformed state. In the initial state, the sensing fluid has a first pressure, and in the deformed state, the sensing fluid has a second pressure different from the first pressure. Moreover, the control apparatus is configured to change the state of movement of the mobile mechanical arm when the difference between the second pressure and the first pressure is greater than a predetermined threshold. On the basis of the change in pressure of the sensing fluid, the collision protection apparatus for the mobile mechanical arm controls the state of movement of the mobile mechanical arm, thereby improving safety.

Description

Collision avoidance device for mobile robotic arm and mobile robotic arm Technical Field

[0001] This invention relates to a collision avoidance device for a mobile robotic arm, and to a mobile robotic arm. Background Technology

[0002] In fields such as industrial robots or medical robots, devices including mobile robotic arms or moving parts are widely used. These mobile robotic arms or moving parts can be controlled by computers or controllers, such as programmable controllers or intelligent controllers, to assist operators in completing various operations or to perform various operations completely independently.

[0003] However, these mobile robotic arms or moving parts may collide with people or objects in their path during movement, leading to safety accidents, such as equipment damage or personal injury, which may reduce operational efficiency and increase additional costs.

[0004] Therefore, there is a need for an improved anti-collision device for mobile robotic arms that can avoid or at least partially reduce the occurrence of safety accidents. Summary of the Invention

[0005] The purpose of this invention is to provide a collision avoidance device for a mobile robotic arm that can reliably sense collisions occurring to the mobile robotic arm or moving parts, thereby altering its motion state.

[0006] According to one aspect of the present invention, a collision avoidance device for a mobile robotic arm is provided, the collision avoidance device comprising: a sensing conduit attached to the mobile robotic arm and containing a sensing fluid therein; a pressure sensor sensing the pressure of the sensing fluid inside the sensing conduit; and a control device controlling the movement of the mobile robotic arm and coupled to the pressure sensor to receive a pressure signal from the pressure sensor, wherein the sensing conduit transitions from an initial state to a deformed state upon collision, wherein the sensing fluid has a first pressure in the initial state and a second pressure different from the first pressure in the deformed state, and wherein the control device is configured to change the movement state of the mobile robotic arm when the difference between the second pressure and the first pressure is greater than a predetermined threshold.

[0007] This anti-collision device causes the internal volume of the sensing tube to change due to elastic deformation upon impact, thereby altering the pressure of the sensing fluid contained within the tube. This pressure change is then used to control the movement of the robotic arm. This sensing method offers flexible deployment and high sensitivity, thus improving the safety of the robotic arm.

[0008] According to the above aspects of the invention, preferably, the sensing conduit may include two end openings arranged at opposite ends and an intermediate conduit extending between the end openings, wherein the end openings are disposed inside the surface of the moving robotic arm, and the intermediate conduit at least partially protrudes outside the surface of the moving robotic arm.

[0009] This approach allows for better integration of sensing circuitry into the mobile robotic arm, ensuring reliable installation and facilitating collision detection. Furthermore, this arrangement is aesthetically pleasing, avoiding or minimizing the negative impact of collision detection devices on the mobile robotic arm's appearance.

[0010] According to the above aspects of the present invention, preferably, the anti-collision device may further include a pipe connector, which may be disposed at the end opening of the sensing pipe to enclose the sensing fluid inside the sensing pipe.

[0011] This structural design allows the anti-collision device to be more flexibly placed at different positions on the mobile robotic arm according to specific anti-collision requirements, and it can adapt to different pipeline lengths and types of mobile robotic arms.

[0012] According to the above aspects of the present invention, preferably, the conduit connector may include a first section and a second section, the first section being inserted into the sensing conduit, and the second section carrying the pressure sensor, wherein the second section is hermetically connected to the first section.

[0013] This type of pipe fitting allows for detachable connection of two sections, facilitating the installation of pressure sensors and enabling the installation of pressure sensors onto sensing pipes of different types (e.g., different cross-sectional shapes or different lengths).

[0014] According to the above aspects of the present invention, preferably, the first segment may include: an insertion portion that tapers toward the sensing conduit; an attachment portion integral with the insertion portion, the attachment portion being fastened to the second segment; and a through-hole that extends from the insertion portion to the attachment portion through the first segment and fluidly connects the sensing conduit to the pressure sensor.

[0015] This type of pipe fitting allows for a modular structure and facilitates the connection of pressure sensors to the sensing fluid within the sensing pipe, enabling real-time sensing of its pressure values.

[0016] According to the above aspects of the present invention, preferably, the first segment may further include: an intermediate segment disposed between the insertion portion and the attachment portion, and the radial dimension of the intermediate segment may be smaller than the maximum radial dimension of the insertion portion and the radial dimension of the attachment portion.

[0017] This type of pipe joint can improve the sealing effect at the pipe joint, reduce sealing costs, and further improve the collision detection sensitivity and reliability of the anti-collision device according to the present invention.

[0018] According to the above aspects of the invention, preferably, the two ends of the sensing conduit can be attached together via a single conduit connector to form a closed-loop sensing conduit, wherein the conduit connector may include two opposing first segments.

[0019] This arrangement reduces the number of components in the collision avoidance device, decreases installation operations, lowers costs, and allows the sensing circuitry to be arranged in a closed loop on the mobile robotic arm, thereby enabling collision detection over a wider range.

[0020] According to the above aspects of the present invention, preferably, the sensing circuits may include a plurality of sensing circuits, and the plurality of sensing circuits are arranged on the mobile robotic arm in a predetermined pattern and protrude at least partially from the surface of the mobile robotic arm.

[0021] This arrangement allows for adaptation to a wider range of collision avoidance needs, further improving the sensitivity and coverage of collision sensing.

[0022] According to the above aspects of the present invention, preferably, the sensing circuit can be a flexible sensing circuit and is made of an elastic material.

[0023] This approach reduces the cost of collision avoidance devices, improves device safety, and is particularly suitable for sensing potential collisions between the mobile robotic arm and certain parts of the human body. Furthermore, this arrangement allows for the use of pre-embedded molding processes to attach or install sensing conduits to the mobile robotic arm.

[0024] According to the above aspects of the invention, preferably, in order to further adapt to a wider range of collision avoidance requirements and improve the sensitivity and coverage of collision sensing, the cross-sectional shape of the sensing conduit can be circular or elliptical; and / or the sensing conduit can be arranged in a C-shape, U-shape, ring, racetrack shape or spiral shape along the surface of the moving robotic arm.

[0025] According to another aspect of the invention, a mobile robotic arm is provided, which may include: a plurality of arm segments that are joined together at a plurality of joints to form an articulated robotic arm; and an anti-collision device according to the above aspect, which may be disposed on at least one of the plurality of arm segments.

[0026] According to the above aspects of the present invention, preferably, the mobile robotic arm may further include at least one of the following anti-collision arrangements: a first anti-collision arrangement, which includes a radar-based anti-collision arrangement; or a second anti-collision arrangement, which includes an anti-collision arrangement based on changes in motor current.

[0027] In this way, different anti-collision devices can complement each other or serve as backups. For example, radar-based anti-collision arrangements can identify or warn before a collision occurs, anti-collision arrangements based on motor current changes are suitable for larger collision forces, and anti-collision devices according to the above aspects can more sensitively sense smaller collision forces, thereby further improving the safety of the mobile robotic arm of the present invention and related personnel.

[0028] Therefore, the anti-collision device for mobile robotic arms of the present invention can meet the usage requirements, overcome the shortcomings of the prior art, and achieve the intended purpose. Attached Figure Description

[0029] To further clarify the anti-collision device for a mobile robotic arm according to the present invention, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments, in which:

[0030] Figure 1 shows a schematic perspective view of a mobile robotic arm according to a non-limiting embodiment of the present invention;

[0031] Figure 2 shows a schematic diagram of a mobile robotic arm according to a non-limiting embodiment of the present invention during a collision;

[0032] Figure 3 shows a schematic diagram of a collision avoidance device for a mobile robotic arm according to a non-limiting embodiment of the present invention;

[0033] Figure 4 is a schematic cross-sectional perspective view of a portion of a mobile robotic arm according to a non-limiting embodiment of the present invention;

[0034] Figure 5 shows a schematic diagram of a portion of a collision avoidance device for a mobile robotic arm according to a non-limiting embodiment of the present invention;

[0035] Figure 6 shows a schematic perspective view of a mobile robotic arm according to another non-limiting embodiment of the present invention;

[0036] Figure 7 shows a schematic diagram of a collision avoidance device for a mobile robotic arm according to another non-limiting embodiment of the present invention; and

[0037] Figure 8 shows a schematic diagram of a portion of a collision avoidance device for a mobile robotic arm according to another non-limiting embodiment of the present invention.

[0038] The above figures are for illustrative purposes only and are not drawn to scale.

[0039] The reference numerals in the figures are listed in the figures and embodiments:

[0040] 1000 - Mobile robotic arm, including:

[0041] 100 - Collision avoidance device, including:

[0042] 10 - Sensing circuitry, including:

[0043] 11 - Open at the end;

[0044] 12 - Intermediate piping;

[0045] 20 - Pressure sensor;

[0046] 30 – Control device;

[0047] 40 - Pipe fittings, including:

[0048] 41 – The first section includes:

[0049] 41a – Insertion section;

[0050] 41b – Attachment;

[0051] 41c - Through-hole;

[0052] 41d – Middle section;

[0053] 42 – Second Section;

[0054] 43 – Intermediate flange;

[0055] 43A – Flange opening;

[0056] 200 - Arm segment, including:

[0057] 201 - Arm surface;

[0058] 202 - Mounting groove;

[0059] 200A - Connector;

[0060] 300 - Collision object;

[0061] 1001 - Support;

[0062] 1002 - Pillar;

[0063] 1003 - Operations Department;

[0064] C – Direction of motion. Detailed Implementation

[0065] It should be understood that, unless explicitly stated otherwise, the invention may take various alternative orientations and sequences of steps. It should also be understood that the specific apparatus shown in the drawings and described in the specification are merely exemplary embodiments of the inventive concept disclosed and defined herein. Therefore, unless expressly stated otherwise, the specific orientations, directions, or other features involved in the various disclosed embodiments should not be considered limiting.

[0066] Figure 1 shows a schematic perspective view of a mobile robotic arm 1000 according to a non-limiting embodiment of the present invention.

[0067] As shown in the figure and by way of non-limiting example, the mobile robotic arm 1000 may include a plurality of arm segments 200. At least one of the arm segments 200 (e.g., the arm segment on the right side of Figure 1) may be supported by a support 1001. The support 1001 may be fixed to an operating table or the ground, for example, via mounting holes and fasteners provided on the support 1001. A support column 1002 may be pivotally attached to the support 1001 to allow the plurality of arm segments 200 to rotate about the support column 1002.

[0068] Additionally, as shown in Figure 1, at least one arm segment (e.g., the leftmost end arm segment) can carry the operating unit 1003. For example, the operating unit 1003 may include a robotic arm, a manipulator, an endoscope, etc.

[0069] The mobile robotic arm 1000 can be used to achieve the desired movement trajectory of the operating unit 1003. Therefore, each arm segment can have a load-bearing function and a motion function, and can have a straight, curved, or otherwise contoured shape.

[0070] As an example, multiple arm segments 200 can be joined together at multiple joints 200A to form an articulated robotic arm. For example, two adjacent arm segments 200 can be connected together via joints 200A such as pivots or movable joints to move relative to each other, thereby achieving a desired motion path under the action of control devices and actuators (such as motors) to assist the operation unit 1003 in performing predetermined operations.

[0071] Because this mobile robotic arm 1000 needs to move frequently and preferably at a relatively high speed, it may collide with people or objects that are present or moving in its path, leading to safety accidents.

[0072] Figure 2 shows a schematic diagram of a mobile robotic arm 1000 according to a non-limiting embodiment of the present invention during a collision.

[0073] As shown in Figure 2, as the arm segment 200 of the mobile robotic arm 1000 moves in the direction of motion C around the support column 1002 or the nearby joint 200A, the side of the arm segment 200 may collide with the collision object 300 (e.g., a person or object).

[0074] Therefore, it is necessary to equip the mobile robotic arm 1000 with anti-collision devices to avoid or at least partially reduce the occurrence of collisions, or mitigate the impact of collisions, thereby ensuring the safety of the mobile robotic arm 1000 and personnel.

[0075] As shown in Figures 1-2 and as an example of the present invention, an anti-collision device 100 may be arranged on the mobile robotic arm 1000, and the anti-collision device 100 is disposed on at least one of the plurality of arm segments 200. Preferably, the anti-collision device 100 may be disposed on each of the plurality of arm segments 200, particularly on their sides. For example, the anti-collision device 100 may be arranged around most or all of the circumferential range of the side of the arm segment 200.

[0076] The anti-collision device 100 may mainly include sensing pipe 10, pressure sensor 20 and control device 30, etc.

[0077] Figure 3 shows a schematic diagram of a collision avoidance device 100 for a mobile robotic arm 1000 according to a non-limiting embodiment of the present invention, wherein a perspective view of the sensing conduit 10 is shown in detail.

[0078] As shown in the figure, the sensing conduit 10 may be generally C-shaped or elliptical with a notch, including two end openings 11 arranged at opposite ends and an intermediate conduit 12 extending between the end openings 11. The sensing conduit 10 may have a hollow conduit space to accommodate the sensing fluid. As an example, the sensing fluid may be a gas such as air or nitrogen, and the initial pressure of the gas may be approximately equal to one standard atmosphere. In alternative embodiments, those skilled in the art may use other types of sensing liquids or those with different initial pressures depending on the application scenario.

[0079] As schematically shown in Figure 3, the cross-sectional shape of the sensing conduit 10 can be approximately circular. Alternatively, the sensing conduit 10 can be formed in a roughly racetrack-shaped form along its entire longitudinal direction (or length direction), and can have approximately equal cross-sections along this longitudinal direction.

[0080] It should be understood that although the accompanying drawings show a generally circular cross-section of the sensing conduit 10, those skilled in the art can alternatively set the cross-sectional shape of the sensing conduit 10 to other shapes, such as elliptical. Furthermore, although shown extending in a generally runway-shaped shape, in alternative embodiments, the sensing conduit 10 can be arranged in other shapes along the surface of the arm segment 200, such as generally C-shaped, U-shaped, annular, or spiral. The sensing conduit 10 according to these embodiments can further adapt to a wider range of collision avoidance requirements and improve the sensitivity and coverage of collision sensing. As used herein, "runway-shaped" can refer to the shape of a running track commonly found in stadiums and encompasses similar shapes with an opening at a bend.

[0081] It should be understood that although Figures 1-3 show a single sensing line 10 arranged on one arm segment 200 of the mobile robotic arm 1000, in alternative embodiments, multiple sensing lines 10 can be arranged on one arm segment 200. In this case, these sensing lines 10 can be arranged on the arm segment 200 of the mobile robotic arm in a predetermined pattern and at least partially protrude from the surface of the arm segment 200. As an example, multiple sensing lines 10 can be arranged side-by-side or intersecting to achieve the desired collision detection effect, particularly improving the sensitivity and coverage of collision sensing.

[0082] Figure 4 is a schematic perspective view of a portion of a mobile robotic arm 1000 according to a non-limiting embodiment of the present invention, in which the housing or outer shell of the upper part of the arm segment is removed to better show its internal arrangement.

[0083] As shown in the figure, at least one of the multiple arm segments 200 may have a generally hollow receiving space. Appropriate components can be housed within this receiving space. For example, controllers, actuators, sensors, or corresponding pipelines, as described above, can be housed within the receiving space of the arm segment.

[0084] The two end openings 11 of the sensing conduit 10 and the conduit connectors 40 (described in detail below) located at the end openings 11 can be located inside the arm segment 200 of the mobile robotic arm, for example, in its hollow receiving space. As schematically shown in FIG4, the two end openings 11 can be inserted into the receiving space inside the arm segment 200 through openings in the side wall of the arm segment 200, and can be placed against corresponding supports to securely hold the sensing conduit 10 in place.

[0085] The intermediate conduit 12 may at least partially protrude beyond the outer side of the arm surface 201 of the arm segment 200 of the mobile robotic arm. For example, the intermediate conduit 12 may be arranged at the arm surface 201 of one or more arm segments 200 of the mobile robotic arm 1000 such that a radial portion of the intermediate conduit 12 protrudes beyond the outer side of the arm surface 201 of the arm segment 200, for example, 1 / 5 to 1 / 2 of its radial direction. In the case where 1 / 2 of the radial portion of the intermediate conduit 12 protrudes beyond the outer side of the arm surface 201 of the arm segment 200, the intermediate conduit 12 can be considered to be bisected by the arm surface 201, that is, half of the radial portion of the intermediate conduit 12 along its longitudinal axis is inside the arm surface 201, while the other half is outside the arm surface 201.

[0086] As shown in Figure 4 and as an example, a mounting groove 202 can be provided at the location where the sensing pipe 10 needs to be installed on the arm segment 200, so that the sensing pipe 10 can be fitted into the mounting groove 202. As another example, when the housing of the arm segment 200 is molded from a material such as composite material or laid from a material such as carbon fiber, the sensing pipe 10 can be pre-embedded therein, so that the sensing pipe 10 can be fitted into the corresponding position of the arm segment 200.

[0087] This arrangement allows for better integration of the sensing circuit 10 into the arm segment 200 of the mobile robotic arm 1000, ensuring reliable installation and facilitating collision sensing. Furthermore, this arrangement is aesthetically pleasing, avoiding or minimizing the negative impact of the collision detection device on the appearance of the mobile robotic arm 1000.

[0088] The sensing conduit 10 can be a flexible sensing conduit and can be composed of various natural or composite materials, such as rubber, silicone, elastomers, polymers, and other elastic materials. This allows the walls of the sensing conduit 10 to at least partially deform elastically, so that in the event of a collision, the elastic deformation of the walls changes the internal volume of the sensing conduit 10, thereby changing the pressure of the sensing fluid contained therein. In particular, flexible conduits made of elastic materials are advantageous, as they reduce the cost of the anti-collision device 100, facilitate its integration into the arm segment 200, improve the safety of the device, and are particularly suitable for sensing collisions that may occur between the arm segment 200 and certain parts of the human body. As used herein, the term "elastic material" refers to composite materials such as silicon-based materials (e.g., silicone), elastomers, polymers, or natural materials such as natural rubber, which possess a certain degree of elasticity to allow the sensing conduit 10 to deform elastically, thereby changing the internal volume of the sensing conduit 10.

[0089] As an example, the sensing conduit 10 can transition from an initial state to a deformed state upon impact. In the initial state, the sensing conduit 10 is in its nominal state, and there is no elastic deformation of the conduit wall due to external force. At this time, the sensing fluid inside the sensing conduit 10 may have a first pressure, which may be, for example, approximately one standard atmosphere. In the deformed state, as described above, the sensing fluid inside the sensing conduit 10 may have a second pressure different from the first pressure due to the elastic deformation of the conduit wall. For example, this second pressure may be greater than the first pressure.

[0090] In order to sense the pressure of the sensing fluid contained inside the sensing conduit 10, the anti-collision device 100 of the present invention may be equipped with a pressure sensor 20.

[0091] Thus, the anti-collision device 100 of the mobile robotic arm 1000 according to the present invention can form a closed-loop, pressure-stabilized piping system through flexible sensing conduits 10 and pressure sensors 20. The sensing conduits 10 can be arranged on the surface of the moving part, such as the arm segment 200, where collisions need to be detected. When a collision occurs, the sensing conduits 10 will first come into contact with the colliding object 300, causing the sensing conduits 10 to undergo compressive deformation. This deformation will cause a change in the pressure of the sensing fluid, such as air, inside the sensing conduits 10. This pressure change will be sensed by the pressure sensor 20, thereby detecting the occurrence of a collision.

[0092] Figure 5 shows a schematic diagram of a portion of a collision avoidance device 100 for a mobile robotic arm 1000 according to a non-limiting embodiment of the present invention, showing the schematic mounting position of the pressure sensor 20 and its connection relationship with the control device 30.

[0093] As schematically shown in Figure 5, the control device 30 can be connected to the pressure sensor 20 to receive pressure signals from the pressure sensor 20. The control device 30 can also be connected to a motion control mechanism, such as an actuator. The actuator can be a motor, hydraulic or pneumatic actuator, etc., to control the movement of the arm segment 200 of the mobile robotic arm 1000.

[0094] When an object or person is placed on the arm section 200 and collides with the sensing pipe 10, the sensing pipe 10 deforms, causing the pressure sensed by the pressure sensor 20 to change from an initial first pressure to a second pressure. Once the pressure difference between the second pressure and the first pressure exceeds a predetermined threshold, the control device 30 can change the motion state of the mobile robotic arm according to a predetermined program and parameter settings.

[0095] As a non-limiting example, the anti-collision device 100 according to the invention can be configured such that when the force acting on the sensing conduit 10 is approximately 4N, the predetermined threshold is reached, thereby changing the motion state of the mobile robotic arm. At this time, for example, the movement of the mobile robotic arm can be stopped, and a corresponding alarm message (e.g., audible or optical alarm message) can be issued; alternatively, the mobile robotic arm can be moved in the opposite direction.

[0096] As schematically shown in Figure 5, the anti-collision device 100 may further include a pipe connector 40 which may be disposed at the end opening 11 of the sensing pipe 10 to enclose the sensing fluid inside the sensing pipe 10, particularly to seal it inside the sensing pipe 10.

[0097] As an example, the pipe connector 40 can be a split structure and may include a first section 41 and a second section 42. The first section 41 can be inserted into the sensing pipe 10. This structure allows the anti-collision device 100 to be more flexibly arranged at different positions of the mobile robotic arm 1000 according to specific anti-collision requirements, and can adapt to different pipe lengths and types of mobile robotic arms.

[0098] For example, the first segment 41 may include an insertion portion 41a, an attachment portion 41b, and a through-hole 41c. The insertion portion 41a may taper toward the sensing conduit 10 to form a generally conical structure. The diameter or radial dimension of the small end (i.e., the lower end in FIG. 5) of this generally conical structure may be smaller than the inner diameter of the end opening 11, while the diameter or radial dimension of the large end (i.e., the upper end in FIG. 5) of the conical structure may be equal to or slightly larger than the inner diameter of the end opening 11, so as to form a sealed connection after the insertion portion 41a is inserted into the end opening 11.

[0099] The attachment portion 41b can be integral with the insertion portion 41a and can be generally disc-shaped. The attachment portion 41b can be fastened to the second section 42. For example, by means of mounting holes provided on the attachment portion 41b and the second section 42 and corresponding fasteners.

[0100] The through-hole 41c can extend through the first section 41 from the insertion part 41a to the attachment part 41b, and fluidly connect the sensing tube 10 to the pressure sensor 20.

[0101] This pipe connector 40 allows for a modular structure, which is particularly convenient for the replacement, installation and removal of the pressure sensor 20, and enables the pressure sensor 20 to be connected to the sensing fluid within the sensing pipe 10.

[0102] An intermediate section 41d may be provided between the insertion part 41a and the attachment part 41b. The intermediate section 41d may be formed as a generally cylindrical connecting section, and the diameter of the intermediate section 41d may be smaller than the maximum diameter of the insertion part 41a and smaller than the diameter of the attachment part 41b.

[0103] Thus, after the insertion part 41a is inserted into the end opening 11, the insertion part 41a can be further inserted, so that the outermost edge of the end opening 11 extends beyond the large end of the conical structure of the insertion part 41a and can at least partially extend to the middle section 41d. In this way, a more reliable sealing connection can be formed by utilizing the elastic contraction of the tube section at the end of the end opening 11, reducing sealing costs and further improving the sensitivity and reliability of the anti-collision device according to the present invention.

[0104] As shown in Figure 5, the second segment 42 may be generally disc-shaped and carries the pressure sensor 20 on one side. As described above, the second segment 42 may be sealed to the first segment 41 by means of fasteners, such as the attachment portion 41b of the first segment 41.

[0105] Although the accompanying drawings show that the insertion portion 41a is a generally conical structure and the attachment portion 41b is a generally disk-shaped structure, it should be understood that they may differ from the shapes shown. In this case, the radial dimension of the intermediate segment 41d may be smaller than the maximum radial dimension (i.e., the outer radial dimension) of the insertion portion 41a and smaller than the radial dimension (i.e., the outer radial dimension) of the attachment portion 41b.

[0106] To further improve the sealing effect, an annular groove (not shown in the figure) may be provided on the attachment surfaces of the attachment portion 41b and / or the second section 42 facing each other. The annular groove can be used to accommodate a sealing ring or sealant to prevent the sensing fluid from overflowing or leaking from the attachment surface.

[0107] Figure 6 shows a schematic perspective view of a mobile robotic arm according to another non-limiting embodiment of the present invention; while Figure 7 shows a schematic diagram of an anti-collision device 100 for a mobile robotic arm 1000 according to another non-limiting embodiment of the present invention.

[0108] Except as described below, the anti-collision device 100 shown in Figures 6-7 is substantially the same as or similar to the anti-collision device 100 shown in Figures 1-4. Therefore, for the sake of brevity, repeated descriptions of the same or similar parts are omitted, and the same or similar parts are labeled with the same or similar reference numerals.

[0109] In the collision avoidance device 100 shown in Figures 6-7, the two ends of the sensing conduit 10 are attached together via a single conduit connector 40 to form a generally closed-loop sensing conduit. As schematically shown in Figure 6, the sensing conduit 10 can then be arranged circumferentially around the arm segment 200, thereby achieving a greater detection range, for example, collision detection within a roughly 360-degree range around the arm segment 200.

[0110] Figure 8 shows a schematic diagram of a portion of a collision avoidance device 100 for a mobile robotic arm 1000 according to another non-limiting embodiment of the invention, in which details of an alternative embodiment of the pipe connector 40 are shown.

[0111] The pipe connector 40 may include two opposing first sections 41 arranged with respect to a central flange 43, and connected to the two ends of the sensing pipe 10 via two insertion portions 41a, respectively. In this case, the pressure sensor 20 can be positioned anywhere inside the pipe connector 40 and is in fluid communication with the sensing fluid inside the sensing pipe 10. Additionally, as schematically shown in FIG8, a corresponding flange opening 43A may be provided on the central flange 43 for connecting the pressure sensor 20 to the control device 30 via a corresponding cable.

[0112] The embodiment shown in Figures 6-8 is advantageous, in particular, this arrangement can detect collisions over a wider range while reducing the number of components in the anti-collision device 100, reducing installation operations, and thus reducing costs.

[0113] As a preferred embodiment, the mobile robotic arm 1000 according to the present invention may further include additional anti-collision arrangements, thereby forming a double or triple anti-collision arrangement.

[0114] For example, the first layer of collision avoidance arrangement may include a radar-based collision avoidance arrangement. The radar may be such as lidar, ultrasonic radar, millimeter-wave radar, and / or infrared radar, to achieve a non-contact collision avoidance effect, that is, to predict the occurrence of a collision before it occurs, and to feed back to the control device 30 to achieve the desired operation, such as stopping the movement in advance.

[0115] The second layer of collision avoidance can include a collision avoidance arrangement based on changes in motor current. For example, when a change in the current of the drive motor used to actuate the boom segment 200 is sensed to exceed a predetermined threshold, the drive motor can be stopped or reversed. At this point, it can usually be confirmed that the boom segment 200 has collided and that a significant collision force has been generated.

[0116] The anti-collision device according to the invention can be used as a third layer of anti-collision arrangement, which also functions based on the occurrence of a collision; however, this anti-collision arrangement is more sensitive. For example, it can typically function based on a small collision force, especially when the collision force is less than 10N; for example, as mentioned above, it can sense a collision force of approximately 4N.

[0117] Thus, the mobile robotic arm 1000 according to the present invention may include at least one of a first-level anti-collision arrangement to a third-level anti-collision arrangement, so that different anti-collision devices can complement each other or serve as backups. For example, an anti-collision arrangement based on changes in motor current is suitable for larger collision forces, while the anti-collision device according to the above aspects can more sensitively sense smaller collision forces, so that such a multi-level anti-collision arrangement further improves the safety of the mobile robotic arm of the present invention and related personnel.

[0118] The terms “inner” and “outer” used herein to indicate orientation or direction, and “first” and “second” used to indicate sequence, are merely to enable those skilled in the art to better understand the concept of the invention as illustrated in preferred embodiments, and are not intended to limit the invention. Unless otherwise stated, all sequences, orientations, or directions are used only to distinguish one element / component / structure from another, and unless otherwise stated, do not indicate any particular order, sequence of operations, direction, or orientation. For example, in an alternative embodiment, a “first layer of anti-collision arrangement” could be a “second layer of anti-collision arrangement.”

[0119] As used herein, unless otherwise specified, the terms “approximately” and “about” are interpreted as indicating a value or range of values ​​plus or minus five percent, or a deviation of the shape and / or position from the value by plus or minus five percent.

[0120] In summary, the anti-collision device 100 for a mobile robotic arm according to embodiments of the present invention overcomes the shortcomings of the prior art and achieves the intended purpose of the invention.

[0121] While the anti-collision device for a mobile robotic arm of the present invention has been described above with reference to preferred embodiments, those skilled in the art should recognize that the above examples are merely illustrative and should not be construed as limiting the invention. Therefore, various modifications and variations can be made to the invention within the spirit and scope of the claims, and all such modifications and variations will fall within the scope claimed by the claims.

Claims

1. A collision avoidance device (100) for a mobile robotic arm, comprising: A sensing conduit (10) is attached to the movable robotic arm and contains a sensing fluid. Pressure sensor (20) senses the pressure of the sensing fluid inside the sensing conduit (10); as well as A control device (30) controls the movement of the mobile robotic arm and is connected to the pressure sensor (20) to receive pressure signals from the pressure sensor (20). In this process, the sensing conduit (10) transitions from an initial state to a deformed state upon impact. In the initial state, the sensing fluid has a first pressure, while in the deformed state, the sensing fluid has a second pressure different from the first pressure. The control device (30) is configured to change the motion state of the mobile robotic arm when the difference between the second pressure and the first pressure is greater than a predetermined threshold.

2. The anti-collision device (100) according to claim 1, characterized in that, The sensing conduit (10) includes two end openings (11) arranged at opposite ends and an intermediate conduit (12) extending between the end openings (11), wherein the end openings (11) are located inside the surface of the mobile robotic arm, and the intermediate conduit (12) protrudes at least partially to the outside of the surface of the mobile robotic arm.

3. The anti-collision device (100) according to claim 1, characterized in that, It also includes a pipe connector (40) disposed at the end opening (11) of the sensing pipe (10) to enclose the sensing fluid inside the sensing pipe (10).

4. The anti-collision device (100) according to claim 3, characterized in that, The pipe connector (40) includes a first section (41) and a second section (42), the first section being inserted into the sensing pipe (10), and the second section carrying the pressure sensor (20), wherein the second section (42) is sealed to the first section (41).

5. The anti-collision device (100) according to claim 4, characterized in that, The first segment (41) includes: Insertion section (41a), which tapers toward the sensing tube (10); An attachment portion (41b) integral with the insertion portion (41a), the attachment portion (41b) and the second segment (42) being fastened together; and A through-hole (41c) extends from the insertion portion (41a) to the attachment portion (41b) through the first section (41) and fluidly connects the sensing conduit (10) to the pressure sensor (20).

6. The anti-collision device (100) according to claim 5, characterized in that, The first segment (41) further includes an intermediate segment (41d), which is disposed between the insertion portion (41a) and the attachment portion (41b), and the radial dimension of the intermediate segment (41d) is smaller than the maximum radial dimension of the insertion portion (41a) and the radial dimension of the attachment portion (41b).

7. The anti-collision device (100) according to claim 3, characterized in that, The two ends of the sensing conduit (10) are attached together via a single conduit connector (40) to form a closed-loop sensing conduit, wherein the conduit connector (40) includes two opposing first segments (41).

8. The anti-collision device (100) according to any one of claims 1-7, characterized in that, The sensing lines (10) include a plurality of sensing lines (10), and the plurality of sensing lines (10) are arranged on the mobile robotic arm in a predetermined pattern and protrude at least partially from the surface of the mobile robotic arm.

9. The anti-collision device (100) according to any one of claims 1-7, characterized in that, The sensing circuit (10) is a flexible sensing circuit and is made of elastic material.

10. The anti-collision device (100) according to any one of claims 1-7, characterized in that, The cross-sectional shape of the sensing conduit (10) is circular or elliptical; and / or The sensing conduit (10) is arranged along the moving robotic arm in a C-shape, U-shape, ring shape, racetrack shape or spiral shape.

11. A mobile robotic arm (1000), comprising: Multiple arm segments (200) are joined together at multiple joints (200A) to form an articulated robotic arm; as well as The anti-collision device (100) according to any one of claims 1-10 is disposed on at least one of the plurality of arm segments (200).

12. The mobile robotic arm (1000) according to claim 11, characterized in that, The mobile robotic arm (1000) also includes at least one of the following anti-collision arrangements: The first layer of collision avoidance arrangement includes a radar-based collision avoidance arrangement; or The second layer of anti-collision arrangement includes an anti-collision arrangement based on changes in motor current.

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