Collision avoidance apparatus for mobile manipulator, and mobile manipulator

Abstract

The present invention relates to a collision avoidance apparatus for a mobile manipulator, comprising: a housing, wherein the housing is attached to a mounting portion of the mobile manipulator and at least a part of the housing is displaceable relative to the mounting portion; a trigger switch that is arranged inside the housing and can be triggered by the housing; and a control apparatus that controls the motion of the mobile manipulator and is connected to the trigger switch to receive a trigger signal therefrom, wherein the housing transitions from an initial state to a displacement state when a collision occurs; in the displacement state, at least a part of the housing is displaced with respect to the initial state; and the trigger switch is configured to be activated by the housing when the displacement is greater than a predetermined threshold, so as to issue a trigger signal, and the control apparatus can change the motion state of the mobile manipulator in response to the trigger signal. The apparatus improves the collision-sensing sensitivity of the mobile manipulator and ensures the safety of surrounding devices and personnel. In addition, the present invention also relates to a mobile manipulator.

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. This can reduce operational efficiency and increase additional costs.

[0004] In particular, the movement path of the joint of a mobile robotic arm is relatively complex, making the outer side of the joint more susceptible to collisions during movement. Therefore, it is particularly advantageous to install an anti-collision device at the joint; however, no effective anti-collision device is currently available in the prior art.

[0005] 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

[0006] The purpose of this invention is to reduce or avoid collisions that may occur during the movement of a robotic arm or moving parts, to prevent equipment damage or personal injury, to improve operational efficiency, and to avoid additional maintenance or downtime costs.

[0007] 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 housing attached to a mounting portion of the mobile robotic arm and at least a portion of the housing being displaceable relative to the mounting portion; a trigger switch disposed inside the housing and capable of being triggered by the housing; and a control device controlling the movement of the mobile robotic arm and coupled to the trigger switch to receive a trigger signal from the trigger switch, wherein the housing transitions from an initial state to a displacement state upon collision, in which at least a portion of the housing is displaced relative to the initial state, and wherein the trigger switch is configured to be activated by the housing to issue a trigger signal when the displacement exceeds a predetermined threshold, and the control device is capable of changing the movement state of the mobile robotic arm in response to the trigger signal.

[0008] This anti-collision device can displace at least a portion of the housing relative to its initial state when a collision occurs. This displacement will activate a trigger switch, thereby changing the motion state of the mobile robotic arm, improving the collision sensing sensitivity of the mobile robotic arm, and thus ensuring the safety of equipment and personnel around the mobile robotic arm.

[0009] According to the above aspects of the invention, preferably, the anti-collision device may further include an attachment device, the cover being attached to the mounting portion of the mobile robotic arm via the attachment device and allowing the cover to be displaced relative to the mounting portion.

[0010] This attachment allows anti-collision devices to be installed at different locations on the mobile robotic arm and enables a modular assembly structure.

[0011] According to the above aspects of the present invention, preferably, the attachment device may include a first attachment device disposed around the outer periphery of the housing between the housing and the mounting portion of the movable robotic arm, wherein the first attachment device is elastically deformable to allow displacement of the housing relative to the mounting portion.

[0012] The elastic deformation of the first attachment device allows for integral displacement of the housing relative to the mounting part, and can also be used for sealing / dustproofing, connection, and control of displacement between the housing and the mobile robotic arm.

[0013] According to the above aspects of the present invention, preferably, the first attachment device can be formed as an annular washer and may include: a first attachment portion that fits into an annular groove formed in the mounting portion of the moving robotic arm; a second attachment portion disposed circumferentially inside the housing; and a deformable portion including a bending portion that deforms under pressure to allow the second attachment portion to be displaced relative to the first attachment portion.

[0014] Displacement is controlled by the bending portion of the annular washer, which is easy to form and install, and makes it easy to control the displacement stroke of the cover when a collision occurs.

[0015] According to the above aspects of the present invention, preferably, the attachment device may include a second attachment device, which may be distributed between the housing and the mounting portion of the movable robotic arm to allow displacement of the housing relative to the mounting portion.

[0016] This arrangement allows for adaptation to the structural shape of the mounting section of a more flexible mobile robotic arm, enabling the housing to be placed in more irregular mounting positions while still achieving the desired collision sensing effect.

[0017] According to the above aspects of the present invention, preferably, the second attachment device may include an elastic element, which may include: a first segment fixed to the mounting portion of the mobile robotic arm; a second segment disposed opposite to the first segment and fixed to the housing; and an intermediate segment disposed between the first segment and the second segment and including a deformable portion that deforms under pressure to allow the second segment to be displaced relative to the first segment.

[0018] By allowing displacement through the elastic deformation of the elastic element, the displacement stroke of the casing under impact is easily controlled. Furthermore, this design can accommodate impacts occurring in multiple directions, such as impacts in directions deviating from the normal direction of the casing, without damaging the elastic element.

[0019] According to the above aspects of the present invention, preferably, the second attachment device may further include a retaining device, which may include: a first retaining device including a pressure plate for securing the first segment to the mounting portion of the mobile robotic arm; and a second retaining device including a retaining member having an attachment portion and a retaining portion, wherein the attachment portion extends from the retaining portion such that while the attachment portion is fastened to the housing, the retaining portion presses the elastic member against the housing.

[0020] This retaining device allows the elastic element to be arranged between the mounting part and the housing of the mobile robotic arm in the desired manner, and it also allows control over the initial shape of the deformable part and the magnitude of the preload force.

[0021] According to the above aspects of the present invention, preferably, the retaining member of the second retaining device further includes a free end disposed opposite to the attachment portion, the free end being disposed in a retaining orifice penetrating the mounting portion of the movable robotic arm and the pressure plate to allow the retaining member to move relative to the retaining orifice, wherein the retaining device further includes a limiting device fixed to the free end of the retaining member to limit the range of movement of the retaining member relative to the retaining orifice.

[0022] This arrangement prevents the cover from detaching from the mounting part of the mobile robotic arm and can accommodate elastic elements of different specifications. Furthermore, this arrangement allows adjustment of the initial distance between the first and second sections of the elastic element, thereby controlling the elastic force of the elastic element—that is, the resistance to pressing the cover—and thus achieving different collision force threshold adjustments.

[0023] According to the above aspects of the present invention, preferably, the second attachment device may include a plurality of such devices and is discretely disposed between the housing and the mounting portion of the mobile robotic arm.

[0024] This allows for a more flexible arrangement of the anti-collision arrangement according to the invention, resulting in a wider range of collision detection and more reliable operation.

[0025] According to the above aspects of the present invention, preferably, the trigger switch may include a plurality of trigger switches arranged at different positions, and the distance between each trigger switch and the inner surface of the housing is less than the displacement of the housing relative to the mounting portion.

[0026] This further increases the reliability of collision detection and improves the reliability and accuracy of sensing by avoiding the invalid travel of the housing during a collision.

[0027] According to the above aspects of the invention, preferably, the plurality of trigger switches can be arranged such that under an impact force of at least 4N, displacement of at least a portion of the housing relative to its initial state triggers at least one of the plurality of trigger switches. This arrangement allows the housing to be non-rigid or partially rigid, thereby further preventing damage to equipment or personnel colliding with the moving robotic arm.

[0028] According to the above aspects of the invention, preferably, the housing can be made of a rigid material. Such a rigid housing can increase compressive strength as needed, prevent damage to the anti-collision device, and reduce the number of trigger switches used.

[0029] According to another aspect of the invention, a mobile robotic arm is provided, comprising: a plurality of arm segments connected to each other at a joint, and an anti-collision device according to the above aspect, the anti-collision device being disposed on the turning portion of the joint.

[0030] 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.

[0031] 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 or equipment.

[0032] 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

[0033] 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:

[0034] Figure 1 shows a schematic perspective view of a mobile robotic arm according to a non-limiting embodiment of the present invention;

[0035] Figure 2 shows a schematic diagram of a mobile robotic arm according to a non-limiting embodiment of the present invention during a collision;

[0036] 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;

[0037] Figure 4 shows a cross-sectional schematic diagram of a first attachment device according to a non-limiting embodiment of the present invention;

[0038] Figure 5 is another schematic diagram of a collision avoidance device for a mobile robotic arm according to a non-limiting embodiment of the present invention;

[0039] Figure 6 shows a schematic diagram of a second attachment device according to a non-limiting embodiment of the present invention;

[0040] Figure 7 shows a cross-sectional perspective view of a portion of the second attachment device shown in Figure 6;

[0041] Figure 8 shows an enlarged perspective view of a portion of the second attachment device shown in Figure 7; and

[0042] Figure 9 shows a schematic perspective view of a mobile robotic arm according to another non-limiting embodiment of the present invention.

[0043] The above figures are for illustrative purposes only and are not drawn to scale.

[0044] The reference numerals in the figures are listed in the figures and embodiments:

[0045] 1000 - Mobile robotic arm, including:

[0046] 100 - Collision avoidance device, including:

[0047] 10 - Enclosure, including:

[0048] 11 - Installation container;

[0049] 20 - Trigger switch;

[0050] 30 – Control device;

[0051] 40 - Attachment device, including:

[0052] 41 – First attachment device, comprising:

[0053] 411 – First Attached Company;

[0054] 411A - Protrusion;

[0055] 412 – Second Attached Company;

[0056] 413 – Deformation section;

[0057] 42 – Second attachment device, comprising:

[0058] 43 - Elastic elements, including:

[0059] 431 – Part One, including:

[0060] 431A – First Holding Section;

[0061] 431B – First Guiding Section;

[0062] 432 – Part Two;

[0063] 433 – Middle Section;

[0064] 44 - Holding device, comprising:

[0065] 45 – First holding device, comprising:

[0066] 451 - Pressure plate, including:

[0067] 451A - Fastener Hole;

[0068] 451B - Keep the recess;

[0069] 452 - Attached orifice;

[0070] 46 – Second holding device, comprising:

[0071] 461 - Retaining element, including:

[0072] 461A - Attached section;

[0073] 461B – Second retaining part;

[0074] 461C - Free End;

[0075] 462 - Padding, comprising:

[0076] 462A – First padding section;

[0077] 462B – Second padding section;

[0078] 47 – Keep the orifice closed;

[0079] 47A – Retaining the seat;

[0080] 48 - Limiting device;

[0081] 200 - Arm section;

[0082] 200A - Connector;

[0083] 201 - Installation Department;

[0084] 202 – Annular groove;

[0085] 202A - concave part;

[0086] 300 - Collision object;

[0087] 1001 - Operations Section;

[0088] G – Circumferential clearance;

[0089] C – Direction of motion. Detailed Implementation

[0090] 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.

[0091] Figure 1 shows a schematic perspective view of a mobile robotic arm 1000 including a non-limiting embodiment according to the present invention; while Figure 2 shows a schematic diagram of the mobile robotic arm 1000 according to a non-limiting embodiment of the present invention during a collision.

[0092] 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 plurality of arm segments 200 may be supported by a support. The support may be fixed to a workbench or the ground, for example via mounting holes and fasteners provided on the support, to allow the plurality of arm segments 200 to move or rotate.

[0093] Additionally, as shown in Figure 2, at least one arm segment (e.g., the distal arm segment) may carry the operating unit 1001. For example, the operating unit 1001 may include a robotic arm, a manipulator, an endoscope, etc.

[0094] The mobile robotic arm 1000 can be used to achieve the desired movement trajectory of the operating unit 1001. Therefore, each arm segment 200 can have a load-bearing function and a motion function, and can have a straight, curved, or otherwise contoured shape.

[0095] As an example, multiple arm segments 200 can engage with each other at multiple joints 200A to form an articulated robotic arm. For instance, 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), thus assisting the operating unit 1001 in performing predetermined operations. Such joints 200A can be elbow-type joints with bends to achieve more flexible motion paths.

[0096] As shown in Figures 1 and 2, this type of elbow joint can have two angled (e.g., fixed angle) joint segments and a bend between the two joint segments. The bend has a large outer surface, similar to the outer elbow of a human arm or the knee of a leg. Because the joint 200A of this mobile robotic arm 1000 has a complex movement path and requires frequent movement, preferably at a relatively high speed, collisions with personnel or objects present or moving along its movement path are possible, leading to safety accidents.

[0097] As shown in Figure 2, as the joint 200A of the arm segment 200 of the mobile robotic arm 1000 moves in the direction of motion C, the turning part of the joint 200A collides with the collision object 300 (e.g., a person or object).

[0098] 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 / equipment.

[0099] 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 may be provided on the joint 200A, especially on its turning portion.

[0100] It should be understood that the location of the anti-collision device 100 shown in the accompanying drawings is merely illustrative, and those skilled in the art can place it at other locations where collision detection is required as needed. For example, in the alternative embodiment shown below in conjunction with FIG9, the anti-collision device 100 may be located on the side of the arm segment 200, and in this case, the external shape of the anti-collision device 100 may be adapted to the contour shape of the side of the arm segment 200.

[0101] Figure 3 shows a schematic diagram of an anti-collision device 100 for a mobile robotic arm 1000 according to a non-limiting embodiment of the present invention.

[0102] As shown in the figure and as a non-limiting embodiment, the anti-collision device 100 may mainly include: a cover 10, a trigger switch 20, and a control device 30, etc.

[0103] The housing 10 can be attached to the mounting portion 201 of the mobile robotic arm, and at least a portion of the housing 10 can be displaced relative to the mounting portion 201. As schematically shown in FIG3, when the housing 10 is installed at the turning portion of the connector 200A, it can have a generally arcuate shape, such that the connector 200A on which the housing 10 is installed has a generally arcuate and smooth outer surface.

[0104] At this time, the mounting portion 201 of the mobile robotic arm also has a roughly similar curved shape, and as described in more detail below, a trigger switch 20 and a retaining aperture 47, etc., can be provided on the mounting portion 201. In addition, the portion of the mounting portion 201 facing away from the interior of the housing 10 can have a structure that is at least partially recessed to allow the retaining member 461, described below, to have a displacement stroke there, thereby allowing at least a portion of the housing 10 to be displaced.

[0105] The housing 10 can be made of rigid or semi-rigid materials. As used herein, the terms "rigid" and "semi-rigid" describe the relative stiffness of the housing 10. For example, a housing 10 made of a rigid material can be made of materials such as metals or non-metals (e.g., hard plastics), such that in the event of a collision, the housing 10 will undergo overall displacement under the impact force, while local deformation is small or negligible. Such a rigid housing 10 can increase compressive strength as needed, prevent damage to the anti-collision device 100, and reduce the number of trigger switches 20 used.

[0106] The housing 10, made of a semi-rigid (or non-rigid) material, can be made of non-metallic materials such as soft plastic or elastic elements. This allows the housing 10 to undergo localized deformation under the impact force during a collision, while the overall displacement of the housing 10 is small or negligible. This semi-rigid (or non-rigid) or partially rigid housing 10 can further prevent damage to equipment or personnel that collide with the mobile robotic arm 1000.

[0107] The housing 10 may be provided with a mounting base 11, which is disposed on the inner surface of the housing 10 facing the mounting portion 201 and may be provided with threaded holes for attachment to the mounting portion 201 of the mobile robotic arm via the attachment device 40. Examples of the attachment device 40 will be described in more detail below in conjunction with the accompanying drawings.

[0108] Referring again to Figure 3, the trigger switch 20 can be disposed inside the housing 10 and can be triggered by the housing 10. The trigger switch 20 may include a contact switch or a non-contact switch such as a membrane switch or a micro switch.

[0109] The trigger switches 20 may include multiple switches, and these switches 20 may be arranged at different locations, for example, spaced relatively evenly apart from each other. Furthermore, preferably, the distance between each trigger switch 20 and the inner surface of the housing 10 may be less than the displacement of the housing 10 relative to the mounting portion. This further increases the reliability of collision detection and improves the reliability and accuracy of sensing by avoiding invalid travel of the housing 10 during a collision.

[0110] As a non-limiting embodiment, the plurality of trigger switches 20 may be arranged such that, under an impact force of at least 4N, at least a portion of the housing 10 is displaced relative to its initial state to trigger at least one of the plurality of trigger switches 20.

[0111] The control device 30 is schematically shown in Figure 3. The control device 30 can control the movement of the mobile robotic arm and is connected to the trigger switch 20 to receive the trigger signal from the trigger switch 20.

[0112] In this way, the housing 10 can change its state upon impact, for example, from an initial state to a displacement state. The initial state can be an undeformed (e.g., partially deformed) or a state without displacement. In the displacement state, at least a portion of the housing 10 is displaced relative to the initial state. For example, as described above, a portion of the housing 10 undergoes partial deformation, resulting in partial displacement, or the entire housing 10 is displaced relative to the mounting portion 201, thereby forming a floating housing 10.

[0113] At least one trigger switch 20 is capable of sensing the occurrence of the deformation or displacement and is configured to be activated by the housing 10 to issue a trigger signal when the deformation or displacement exceeds a predetermined threshold. The trigger signal can be sent to the control device 30, enabling the control device 30 to change the motion state of the mobile robotic arm 1000 in response to the trigger signal, for example, to stop the movement of all or adjacent arm segments 200 of the mobile robotic arm 1000 that have collided with it.

[0114] According to an embodiment of the present invention, the attachment device 40 may be disposed between the housing 10 and the mounting portion 201 of the mobile robotic arm, such that the housing 10 is attached to the mounting portion 201 of the mobile robotic arm via the attachment device 40 and the housing 10 is allowed to be displaced relative to the mounting portion 201.

[0115] The attachment device 40 allows the housing 10 of the anti-collision device 100 to be mounted at different locations on the mobile robotic arm, and enables a modular assembly structure. For example, in the embodiment shown in Figures 1-8, the attachment device 40 can mount the housing 10 of the anti-collision device 100 at the joint 202A of the mobile robotic arm, while in the embodiment shown in Figure 9, the attachment device 40 can mount the housing 10 of the anti-collision device 100 to the remaining portion of the arm segment 200 of the mobile robotic arm, excluding the joint 202A, as will be described in detail below with reference to the accompanying drawings.

[0116] According to the present invention, the attachment device 40 may include at least one of the first attachment device 41 and the second attachment device 42.

[0117] Figure 4 shows a schematic diagram of a first attachment device 41 according to a non-limiting embodiment of the present invention. As shown and according to a non-limiting example of the present invention, the first attachment device 41 may be disposed around the outer periphery of the housing 10 between the housing 10 and the mounting portion 201 of the mobile robotic arm. The first attachment device 41 is elastically deformable to allow displacement of the housing 10 relative to the mounting portion 201.

[0118] Specifically, the first attachment device 41 can be formed as an annular gasket, such as an annular gasket made of rubber, silicone, or other elastomers. The annular gasket may include multiple integrally formed parts. For example, viewed along a cross-section of the annular gasket, the annular gasket may include a first attachment portion 411, a second attachment portion 412, and a deformable portion 413 therebetween.

[0119] It should be understood, and as illustrated, that the term "annular washer" as used herein refers to a washer that is closed in the circumferential direction, whose circumferential profile follows the circumferential profile of the mounting portion 201, and is not necessarily annular. Furthermore, it should be understood that, preferably, the housing 10 can be made of a rigid material to allow the housing 10 to displace relative to the mounting portion 201 as a whole upon impact, thereby triggering or activating the trigger switch 20.

[0120] The first attachment portion 411 can be fitted into the annular groove 202 formed in the mounting portion 201 of the mobile robotic arm. Preferably, a protrusion 411A can be provided on the first attachment portion 411, which can be provided in the recess 202A on the side of the annular groove 202, thereby achieving accurate positioning of the first attachment portion 411 relative to the mounting portion 201 of the mobile robotic arm and forming a sealed connection for dustproofing, waterproofing, etc. at the connection portion.

[0121] As shown in Figure 4, the second attachment portion 412 can be disposed circumferentially inside the housing 10, and a circumferential gap G can exist between the second attachment portion 412 and the housing 10 to allow the housing 10 to be displaced toward the second attachment portion 412 and thus toward the mounting portion 201 of the moving robotic arm, for example, in the event of a lateral collision, such as when the collision does not occur at approximately the center of the housing 10, or when the collision does not occur along the normal direction of the housing 10.

[0122] The deformable portion 413 may include a bend, which may be, for example, in the form of a groove, such as a groove with a generally U-shaped or C-shaped interface. In this way, the bend deforms under pressure to allow displacement of the second attachment portion 412 relative to the first attachment portion 411. Additionally, as shown, the bottom or closed side of the U-shaped groove may face outwards to better achieve functions such as dustproofing or waterproofing, and to control the magnitude of displacement of the cover 10 relative to the mounting portion 201.

[0123] As shown in Figure 4, the end of the edge of the cover 10 can approach or abut against the deformable part 413 (e.g., approach or abut against the lower end of the deformable part 413), so that the deformable part 413 is sandwiched between the cover 10 and the mounting part 201 of the mobile robotic arm, thereby allowing displacement of the cover 10 relative to the mounting part 201 of the mobile robotic arm while ensuring a good seal between the cover 10 and the mounting part 201 of the mobile robotic arm.

[0124] The size or shape of the groove in the curved part can be changed to make it easier to control the displacement stroke of the cover 10 relative to the mounting part 201 of the mobile robotic arm, and it is also easy to form and install.

[0125] Figure 5 is another schematic diagram of a collision avoidance device 100 for a mobile robotic arm 1000 according to a non-limiting embodiment of the present invention. Figure 5 shows an embodiment in which the attachment device 40 includes a second attachment device 42.

[0126] The second attachment device 42 can be disposed separately or discretely between the housing 10 and the mounting portion 201 of the mobile robotic arm to allow displacement of the housing 10 relative to the mounting portion 201. For example, as shown in FIG5, four second attachment devices 42 can be disposed between the housing 10 and the mounting portion 201 of the mobile robotic arm, and these second attachment devices 42 are spaced apart from each other for a more uniform distribution. This arrangement allows for adaptation to the more flexible structural shape of the mounting portion 201 of the mobile robotic arm, enabling the housing 10 to be arranged in more irregular mounting positions while still achieving the desired collision sensing effect.

[0127] Figure 6 shows a schematic diagram of a second attachment device 42 according to a non-limiting embodiment of the present invention; Figure 7 shows a cross-sectional perspective view of a portion of the second attachment device 42 shown in Figure 6; and Figure 8 shows an enlarged perspective view of a portion of the second attachment device 42 shown in Figure 7.

[0128] As shown in Figures 6-8, the second attachment device 42 may mainly include an elastic element 43 and a retaining device 44. The elastic element 43 allows the housing 10 to be floated relative to the mounting portion 201 of the mobile robotic arm, while the retaining device 44 is mainly used to hold both ends of the elastic element 43 to the housing 10 and the mounting portion 201, respectively. In this way, at least a portion of the displacement of the housing 10 relative to the mounting portion 201 of the mobile robotic arm can be achieved solely through the elastic deformation of the elastic element 43.

[0129] As shown in more detail in Figures 7 and 8, the elastic element 43 may be a hollow structure and may include: a first segment 431, a second segment 432, and an intermediate segment 433 therebetween. As an example, the elastic element 43 may be made of an elastic material such as silicone and may be in the form of an elastic plunger with a hollow portion.

[0130] The first segment 431 may be the upper segment shown in the accompanying drawings and may be fixed to the mounting portion 201 of the mobile robotic arm, for example via the holding device 44 described in detail below. As shown in FIG8, the first segment 431 may include two parts angled to each other, namely, a first holding portion 431A and a first guide portion 431B. For example, the first holding portion 431A and the first guide portion 431B may form an angle of approximately 90 degrees. As an example, a first side (e.g., the upper side in FIG8) of the first holding portion 431A may be provided with a circumferentially extending protrusion, while a second side (e.g., the lower side in FIG8) of the first holding portion 431A may be a flat surface. The first guide portion 431B may be a generally straight segment and may be generally cylindrical with a hollow opening inside. The first guide portion 431B can pass through the retaining hole 47, and the retainer 461 can pass through the hollow opening of the first guide portion 431B, such that the circumferentially extending wall of the first guide portion 431B can be located between the retaining hole 47 and the retainer 461.

[0131] The second segment 432 can be disposed opposite to the first segment 431 and fixed to the housing 10, for example, by abutting against the mounting base 11 of the housing 10, and will be further described in detail below with reference to an example structure of the retaining device 44.

[0132] The intermediate segment 433 may be disposed between the first segment 431 and the second segment 432 and may include a deformable portion. This deformable portion is shown in the figures as a generally V-shaped structure and can deform under pressure to allow displacement of the second segment 432 relative to the first segment 431. In alternative embodiments, the deformable portion may also have other structural forms, such as a generally U-shaped structure, etc.

[0133] It should be understood that although the elastic element 43 is described in three segments, and the middle segment 433 is separately labeled as a deformable part, this segmentation is only for the convenience of those skilled in the art to understand the concept of the invention, and is not intended to limit the invention. For example, when the elastic element 43 undergoes elastic deformation, a portion of the first segment 431 or the second segment 432 may also undergo elastic deformation. In addition, this arrangement can accommodate impacts occurring in multiple directions, such as impacts generated in different directions deviating from the normal direction of the cover 10, without damaging the elastic element 43.

[0134] Referring again to Figures 7-8, the retaining device 44 of the second attachment device 42 may include a first retaining device 45 and a second retaining device 46. The first retaining device 45 is used to secure the first segment 431 to the mounting portion 201 of the mobile robotic arm. As an example, the first retaining device 45 may include a pressure plate 451, which works in conjunction with the mounting portion 201. Fastener holes 451A and retaining recesses 451B may be provided on the pressure plate 451.

[0135] A threaded fastener can pass through the fastener hole 451A and the attachment hole 452 of the mounting portion 201 (see FIG. 6), thereby securing the first segment 431 to the mounting portion 201 of the mobile robotic arm by means of the pressure plate 451. As a preferred embodiment, the retaining recess 451B can mate with the first retaining portion 431A of the first segment 431 to more reliably secure the first segment 431 to the mounting portion 201 of the mobile robotic arm. For example, the retaining recess 451B can be a circumferentially extending groove for mates with a circumferentially extending protrusion of the first retaining portion 431A.

[0136] At this time, the second side (lower side in FIG8) of the first retaining portion 431A can abut against the retaining seat portion 47A formed around the retaining orifice 47. Obviously, the circumferential dimension of the first retaining portion 431A can be larger than the circumferential dimension of the retaining orifice 47. In this way, the first segment 431 of the elastic member 43 is firmly held to the mounting portion 201 of the moving robotic arm via the pressure plate 451 and the retaining seat portion 47A, and its displacement relative to the mounting portion 201 is restricted.

[0137] Referring again to Figures 7-8, the second retaining device 46 may include a retaining member 461, which may be shaped as a double-ended stud. The first end of the double-ended stud (e.g., the upper end shown in the figures) may have a larger diameter, while the second end (e.g., the lower end shown in the figures) may have a smaller diameter. The retaining member 461 may extend through the hollow portion of the elastic member 43, thereby allowing the elastic member 43 to be disposed between the retaining orifice 47 and the retaining member 461, as described above.

[0138] As shown in the figure, the retainer 461 may have an attachment portion 461A and a second retaining portion 461B at the second end. The attachment portion 461A can extend from the second retaining portion 461B such that while the attachment portion 461A is fastened to the housing 10, the second retaining portion 461B presses the elastic member 43 against the housing 10, for example, against the mounting base 11 of the housing 10.

[0139] According to a preferred embodiment of the present invention and as shown in the figures, a gasket 462 may be provided between the elastic member 43 and the mounting housing 11. The gasket 462 may include a first gasket portion 462A and a second gasket portion 462B. The first gasket portion 462A may have a smaller diameter and may be disposed radially inside the second segment 432 of the elastic member 43. The second gasket portion 462B may have a larger diameter and abuts against the axial ends (i.e., the lower end in the figures) of the second segment 432 and the mounting housing 11 via its two axial surfaces, respectively.

[0140] The second retaining portion 461B may be a circumferentially extending groove (e.g., opening downwards in the figures), which may have a generally semi-circular or arcuate cross-section. Correspondingly, the second segment 432 of the elastic member 43 may be provided with a circumferentially extending protrusion (e.g., protruding upwards in the figures). The shape of this protrusion may be complementary to the shape of the groove of the second retaining portion 461B to securely retain the second segment 432 of the elastic member 43 to the housing 10.

[0141] Referring again to Figures 7-8, the retaining member 461 of the second retaining device 46 may further include a free end 461C (i.e., the upper end shown in the figures) disposed opposite to the attachment portion 461A. This free end 461C is disposed in the retaining hole 47 that passes through the mounting portion 201 of the moving robotic arm and the pressure plate 451, and also passes through the hollow portion of the elastic member 43 as described above, so as to allow the retaining member 461 to move relative to the retaining hole 47.

[0142] As shown in the figure, the retaining device 44 may further include a limiting device 48. The limiting device 48 may include threaded fasteners, such as the two nuts shown in the figure. The limiting device 48 may be fixed to the free end 461C of the retainer 461 to limit or constrain the range of movement of the retainer 461 relative to the retaining orifice 47.

[0143] With this limiting device 48, the elastic element 43 can be arranged between the mounting part 201 of the mobile robotic arm and the cover 10 in a desired manner, preventing the cover 10 from detaching from the mounting part 201 of the mobile robotic arm. The initial spacing can be adjusted to control the initial shape of the deformable part, thereby controlling the elastic force or preload force of the elastic element 43, i.e., the threshold of the resistance to pressing the cover 10.

[0144] When the housing 10 of the anti-collision device 100 collides with the impact object 300, at least a portion of the housing 10, to which the second attachment device 42 is mounted, forces the retainer 461 to move toward the mounting portion 201. Due to the arrangement of the free end 461C of the retainer 461, this free end 461C will move along with the housing 10. This arrangement allows the housing 10 to undergo partial deformation or overall displacement under the action of the impact object 300, thereby enabling the housing 10 to trigger the trigger switch 20 disposed inside the housing 10. At this time, as described above, the control device 30 can receive the trigger signal from the trigger switch 20 and change the motion state of the moving robotic arm. For example, this state change can be pre-programmed into the control device 30 as program software to achieve the desired control operation.

[0145] The anti-collision device 100 according to the present invention improves the collision sensing sensitivity of the mobile robotic arm 1000, thereby ensuring the safety of equipment and personnel around the mobile robotic arm 1000.

[0146] Although examples of the first attachment device 41 and the second attachment device 42 have been described above with reference to the accompanying drawings, it should be understood that the anti-collision device 100 according to the present invention may provide only one of the first attachment device 41 or the second attachment device 42, or may provide both the first attachment device 41 and the second attachment device 42 simultaneously. In embodiments where both the first attachment device 41 and the second attachment device 42 are provided, their arrangement may be related or complementary to achieve more sensitive and comprehensive collision detection.

[0147] For example, the elastic force of the elastic element 43 of the second attachment device 42 and the annular washer of the first attachment device 41 can be adjusted simultaneously or separately to achieve different collision force threshold adjustments, thereby expanding the range of collision detection and making the operation more reliable. For example, by adjusting the initial distance between the first segment 431 and the second segment 432 of the elastic element 43, the elastic force of the elastic element 43, i.e., the magnitude of the resistance to pressing the cover, can be controlled.

[0148] Figure 9 shows a schematic perspective view of a mobile robotic arm 1000 according to another non-limiting embodiment of the present invention.

[0149] Except as described below, the anti-collision device 100 shown in FIG9 is substantially the same as or similar to the anti-collision device 100 shown in FIG1-8. 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.

[0150] In the embodiment shown in FIG9, the anti-collision device 100 is not disposed at the joint portion 200A of the mobile robotic arm 1000, but is arranged along the outer surface of the arm segment 200 or forms part of the outer surface of the arm segment 200. For example, the housing 10 of the anti-collision device 100 can be formed as a floating shell of the arm segment 200.

[0151] In the embodiment shown in FIG9, the anti-collision device 100 is provided with a first attachment device 41 and a second attachment device 42. The shape of the annular washer of the first attachment device 41 may differ from that shown in FIG1-8, but its circumferential profile still follows the profile of the circumferential edge of the housing 10. Similarly, the second attachment device 42 may also mainly include an elastic element 43 and a retaining device 44 to allow the housing 10 to move relative to the mounting portion 201 of the mobile robotic arm, but the number and position of each elastic element 43 and retaining device 44 may differ from those shown in FIG1-8.

[0152] In addition, as described above, in alternative embodiments, the anti-collision device 100 may also be provided with only the first attachment device 41 or only the second attachment device 42.

[0153] 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.

[0154] 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.

[0155] 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.

[0156] The anti-collision device 100 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, particularly when the collision force is less than 10N; for example, as mentioned above, it can sense a collision force of approximately at least 4N. Furthermore, as mentioned above, this anti-collision device 100 can be arranged in various locations to accommodate more flexible collision detection needs.

[0157] 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 100 according to the present invention 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 1000 of the present invention and related personnel or equipment.

[0158] The terms “outer” and “inner” used herein to indicate orientation or location, 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 locations are used only to distinguish one element / component / structure from another, and do not indicate any particular order, sequence of operations, direction, or orientation unless otherwise stated. For example, in an alternative embodiment, a “first attachment device” may be a “second attachment device.”

[0159] 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.

[0160] 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.

[0161] 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, the collision avoidance device (100) comprising: A housing (10) is attached to the mounting portion of the mobile robotic arm, and at least a portion of the housing (10) is displaceable relative to the mounting portion. A trigger switch (20) is disposed inside the housing (10) and can be triggered by the housing (10); as well as A control device (30) controls the movement of the mobile robotic arm and is connected to the trigger switch (20) to receive trigger signals from the trigger switch (20). The housing (10) transitions from an initial state to a displacement state upon collision, in which at least a portion of the housing (10) is displaced relative to the initial state, and wherein the trigger switch (20) is configured to be activated by the housing (10) to emit the trigger signal when the displacement is greater than a predetermined threshold, and the control device is capable of changing the motion state of the mobile robotic arm in response to the trigger signal.

2. The anti-collision device (100) according to claim 1, characterized in that, The anti-collision device (100) further includes an attachment device (40), through which the housing (10) is attached to the mounting portion of the mobile robotic arm and allows the housing (10) to be displaced relative to the mounting portion.

3. The anti-collision device (100) according to claim 2, characterized in that, The attachment device (40) includes a first attachment device (41) disposed around the outer periphery of the housing (10) between the housing (10) and the mounting portion of the mobile robotic arm, wherein the first attachment device (41) is elastically deformable to allow the housing (10) to displace relative to the mounting portion.

4. The anti-collision device (100) according to claim 3, characterized in that, The first attachment device (41) is formed as an annular washer and includes: The first attachment part (411) is fitted into the annular groove formed in the mounting part of the mobile robotic arm; The second attachment (412) is disposed circumferentially inside the housing (10); and The deformable portion (413) includes a bending portion that deforms under pressure to allow the second attachment portion (412) to be displaced relative to the first attachment portion (411).

5. The anti-collision device (100) according to claim 2, characterized in that, The attachment device (40) includes a second attachment device (42) which is disposed separately between the housing (10) and the mounting portion of the mobile robotic arm to allow the housing (10) to be displaced relative to the mounting portion.

6. The anti-collision device (100) according to claim 5, characterized in that, The second attachment device (42) includes an elastic element (43), the elastic element comprising: The first section (431) is fixed to the mounting portion of the mobile robotic arm; The second section (432), which is disposed opposite to the first section and fixed to the housing (10); and An intermediate section (433) is disposed between the first section (431) and the second section (432) and includes a deformable portion that deforms under pressure to allow the second section (432) to be displaced relative to the first section (431).

7. The anti-collision device (100) according to claim 6, characterized in that, The second attachment device (42) further includes a retaining device (44), the retaining device comprising: A first retaining device (45), comprising a pressure plate (451) for securing the first segment (431) to the mounting portion of the mobile robotic arm; and The second retaining device (46) includes a retaining member (461) having an attachment portion (461A) and a retaining portion (461B), wherein the attachment portion extends from the retaining portion such that while the attachment portion is fastened to the housing (10), the retaining portion presses the elastic member (43) against the housing (10).

8. The anti-collision device (100) according to claim 7, characterized in that, The retaining member (461) of the second retaining device (46) further includes a free end (461C) disposed opposite to the attachment portion (461A). The free end is disposed in a retaining aperture (47) penetrating the mounting portion of the movable robotic arm and the pressure plate (451) to allow the retaining member (461) to move relative to the retaining aperture (47). The retaining device (44) further includes a limiting device (48) fixed to the free end (461C) of the retaining member (461) to limit the range of movement of the retaining member (461) relative to the retaining orifice (47).

9. The anti-collision device (100) according to any one of claims 5-8, characterized in that, The second attachment device (42) includes a plurality of such devices and is discretely disposed between the housing (10) and the mounting portion of the mobile robotic arm.

10. The anti-collision device (100) according to any one of claims 1-8, characterized in that, The trigger switch (20) includes a plurality of trigger switches arranged at different positions, and the distance between each trigger switch (20) and the inner surface of the housing (10) is less than the displacement of the housing (10) relative to the mounting portion.

11. The anti-collision device (100) according to claim 10, characterized in that, The plurality of trigger switches are arranged such that, under an impact force of at least 4N, displacement of at least a portion of the housing (10) relative to the initial state triggers at least one of the plurality of trigger switches.

12. The anti-collision device (100) according to any one of claims 1-8, characterized in that, The housing (10) is made of a rigid material.

13. A mobile robotic arm (1000), comprising: Multiple arm segments (200), the multiple arm segments being connected to each other at a joint (200A), and The anti-collision device (100) according to any one of claims 1-12 is disposed on the turning portion of the joint (200A).

14. The mobile robotic arm (1000) according to claim 13, 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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