CN107309878A - A kind of self-movement robot with anticollision device, collision-prevention device - Google Patents
A kind of self-movement robot with anticollision device, collision-prevention device Download PDFInfo
- Publication number
- CN107309878A CN107309878A CN201710689078.2A CN201710689078A CN107309878A CN 107309878 A CN107309878 A CN 107309878A CN 201710689078 A CN201710689078 A CN 201710689078A CN 107309878 A CN107309878 A CN 107309878A
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- CN
- China
- Prior art keywords
- robot
- human body
- controller
- machine human
- collision
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of self-movement robot with anticollision device, collision-prevention device, including mobile base, movable pulley is equiped with the lower end corner of the mobile base, the upper end of the mobile base is provided with machine human body, the upper end of the machine human body is provided with robot head, the upper end of the robot head is provided with antenna, the front end of the robot head is equiped with video camera, the side of the machine human body is equiped with robot arm, the side wall of the machine human body opposite side is provided with shifting chute, the inside of each shifting chute is equipped with movable block, side of the movable block away from machine human body is provided with the second Crashworthy plate of loop configuration, the side of second Crashworthy plate away from movable block is equidistant around provided with multiple decoupling rods.The present invention is simple in construction, easy to operate, can be when robot is operated, even if because error causes to collide, as good damping and protection are played a part of in the effect of Crashworthy plate and decoupling rod.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of self-movement robot with anticollision device, collision-prevention device.
Background technology
Robot (Robot) is the automatic installations for performing work.It can both receive mankind commander, can run again
The program of advance layout, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, for example, industry, construction industry, or dangerous work are produced, mobile robot (Robot) is automatic performs
The installations of work.It can both receive mankind commander, and the program of advance layout can be run again, can also be according to artificial
The principle guiding principle action that intellectual technology is formulated.Its task is assistance or the work for replacing human work, for example, produce industry, building
Industry, or dangerous work, and the research and development road of robot is also very very long, for example, can when robot test or work
So infringement can be produced to robot, or even influence its work because some reasons cause robot to receive collision, therefore,
It is proposed that a kind of self-movement robot with anticollision device, collision-prevention device.
The content of the invention
The invention aims to solve robot in the prior art to receive the problem of collision may be damaged, and propose
A kind of self-movement robot with anticollision device, collision-prevention device.
To achieve these goals, present invention employs following technical scheme：
It is equal at a kind of self-movement robot with anticollision device, collision-prevention device, including mobile base, the lower end corner of the mobile base
Movable pulley is equiped with, the upper end of the mobile base is provided with machine human body, and the upper end of the machine human body is provided with robot
Head, the upper end of the robot head is provided with antenna, and the front end of the robot head is equiped with video camera, the machine human body
Side is equiped with robot arm, and the side wall of the machine human body opposite side is provided with shifting chute, each shifting chute
Inside be equipped with movable block, side of the movable block away from machine human body is provided with the second Crashworthy plate of loop configuration, institute
State side of second Crashworthy plate away from movable block equidistant around multiple decoupling rods are provided with, the decoupling rod is away from the first Crashworthy plate
One end be connected with the first Crashworthy plate jointly, a side wall of the movable block in shifting chute is provided with fixed ball, institute
State and elastic plate is fixed with fixed ball, the one end of the elastic plate away from fixed ball is provided with card ball, the elastic plate and movable block
Between connected by multiple second springs, the side wall of the shifting chute is provided with promoting groove, and the inside of the promotion groove is provided with pushing away
Lever, the one end of the catch bar away from movable block is provided with pressing pad, and the side wall of the pressing pad and machine human body fixes company
Connect, multiple 4th springs, the inside of the machine human body are additionally provided between the lateral wall of pressing pad and the machine human body
Provided with controller, the input of the controller is electrically connected with the output end of video camera, the output end of the controller and movement
Being electrically connected from mobile system in base, the output end of the controller is electrically connected with the input of antenna；The decoupling rod by
Elastic rod and around be located on elastic rod the 3rd spring composition.
It is preferred that, be additionally provided with multiple range sensors on the side wall of the machine human body, the range sensor it is defeated
Go out end to electrically connect with the input of controller.
It is preferred that, the inside of the robot arm is provided with drive system, the input and controller of the drive system
Output read remote electrical connection.
It is preferred that, the inside of the mobile base is provided with motor, output end and the machine person of the motor
Body is fixedly connected, and motor is electrically connected with the controller by wire.
It is preferred that, the side side wall of the robot head is provided with warning lamp, the input and controller of the warning lamp
Output end electrical connection.
It is preferred that, it is additionally provided with voice announcer, the input of the voice announcer on the side side wall of the robot head
End is electrically connected with the output end of controller.
In the present invention, when using the device, being worked from mobile system in controller control mobile base, driving
Movable pulley is moved, band mobile robot be integrally operated, video camera can to robot move ahead route carry out observation and
Planning, in addition, settings of range sensor can be detected to the collision distance of robot, and detection obtain it is a series of
Data can be sent between external computer terminal port, and two Crashworthy plates by antenna and be connected by decoupling rod, can be given
Robot plays good cushioning effect, positioned at inner side the second Crashworthy plate by movable block plug in shifting chute with robot
Body is connected, and fixed ball, card ball, elastic plate, promotes the setting of groove and spring that movable block can be connected to shifting well
Dynamic groove and the inside for promoting groove, and pressing pad, spring, catch bar and promote the setting of groove easily to dismantle movable block
Get off, the present invention is simple in construction, easy to operate, can be when robot be operated, even if because error causes to occur
Collision, as good damping and protection are played a part of in the effect of Crashworthy plate and decoupling rod.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the self-movement robot with anticollision device, collision-prevention device proposed by the present invention；
Fig. 2 is a kind of part-structure top view of the self-movement robot with anticollision device, collision-prevention device proposed by the present invention；
Fig. 3 is a kind of structural representation of the self-movement robot part A with anticollision device, collision-prevention device proposed by the present invention；
Fig. 4 is a kind of structural representation of the self-movement robot part B with anticollision device, collision-prevention device proposed by the present invention.
In figure：1 mobile base, 2 movable pulleys, 3 robot arms, 4 first Crashworthy plates, 5 robot heads, 6 antennas, 7 shootings
Machine, 8 range sensors, 9 second Crashworthy plates, 10 machine human bodies, 11 movable blocks, 12 decoupling rods, 13 pressing pads, 14 first bullets
Spring, 15 catch bars, 16 promote groove, 17 shifting chutes, 18 card balls, 19 elastic plates, 20 to fix ball, 21 second springs.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.
In the description of the invention, it is to be understood that term " on ", " under ", "front", "rear", "left", "right", " top ",
The orientation or position relationship of the instruction such as " bottom ", " interior ", " outer " are based on orientation shown in the drawings or position relationship, merely to just
In the description present invention and simplify description, rather than indicate or imply signified device or element must have specific orientation, with
Specific azimuth configuration and operation, therefore be not considered as limiting the invention.
Reference picture 1-4, a kind of self-movement robot with anticollision device, collision-prevention device, including mobile base 1, the lower end of mobile base 1
Movable pulley 2 is equiped with corner, the upper end of mobile base 1 is provided with machine human body 10, and the upper end of machine human body 10 is provided with
Robot head 5, the upper end of robot head 5 is provided with antenna 6, and the front end of robot head 5 is equiped with video camera 7, machine human body 10
Side be equiped with robot arm 3, the side wall of the opposite side of machine human body 10 is provided with shifting chute 17, each shifting chute 17
Inside be equipped with movable block 11, side of the movable block 11 away from machine human body 10 is provided with the second Crashworthy plate 9 of loop configuration,
Second side of the Crashworthy plate 9 away from movable block 11 is equidistant around multiple decoupling rods 12 are provided with, and decoupling rod 12 is away from the first anticollision
One end of plate 9 is connected with the first Crashworthy plate 4 jointly, and a side wall of the movable block 11 in shifting chute 17 is provided with fixed ball
20, fix and elastic plate 19 is fixed with ball 20, the one end of elastic plate 19 away from fixed ball 20 is provided with card ball 18, elastic plate 19 and shifting
Connected between motion block 11 by multiple second springs 21, the side wall of shifting chute 17 promotes the inside of groove 16 provided with groove 16 is promoted
Provided with catch bar 15, the one end of catch bar 15 away from movable block 11 is provided with pressing pad 13, pressing pad 13 and machine human body 10
Side wall is fixedly connected, and multiple 4th springs, machine human body are additionally provided between the lateral wall of pressing pad 13 and machine human body 10
10 inside is provided with controller, and the input of controller is electrically connected with the output end of video camera 7, the output end of controller and movement
Being electrically connected from mobile system in base 1, the output end of controller is electrically connected with the input of antenna, and decoupling rod 12 is by elastic rod
Multiple range sensors 8, distance are additionally provided with the 3rd spring composition being located on elastic rod, the side wall of machine human body 10
The output end of sensor 8 is electrically connected with the input of controller, and the inside of robot arm 3 is provided with drive system, drive system
The output of input and controller read far to electrically connect, the inside of mobile base 1 is provided with motor, the output end of motor
It is fixedly connected with machine human body 10, and motor is electrically connected with the controller by wire, on the side side wall of robot head 5
Provided with warning lamp, the input of warning lamp is electrically connected with the output end of controller, and language is additionally provided with the side side wall of robot head 5
Sound broadcast device, the input of voice announcer is electrically connected with the output end of controller.
In the present invention, when using the device, being worked from mobile system in controller control mobile base 1 is driven
Dynamic movable pulley 2 is moved, and band mobile robot is integrally operated, and video camera 7 can be seen to the route that robot moves ahead
Examine and plan, in addition, the setting of range sensor 8 can be detected to the collision distance of robot, and detect what is obtained
Volume of data can be sent to by antenna 6 between external computer terminal port, and two Crashworthy plates to be connected by decoupling rod 12
Connect, good cushioning effect can be played to robot, the second Crashworthy plate 9 positioned at inner side by movable block 11 plugs movement
It is connected in groove 17 with machine human body 10, and fixed ball 20, card ball 18, elastic plate 19, promotes the setting of groove 16 and spring can
So that movable block 11 is connected into shifting chute 17 well and the inside of groove 16, and pressing pad 13, spring, the and of catch bar 15 is promoted
Promoting the setting of groove 16 can easily disassemble movable block 11.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (6)
1. a kind of self-movement robot with anticollision device, collision-prevention device, including mobile base (1), it is characterised in that the mobile base (1)
Lower end corner at be equiped with movable pulley (2), the upper end of the mobile base (1) is provided with machine human body (10), the machine
The upper end of device human body (10) is provided with robot head (5), and the upper end of the robot head (5) is provided with antenna (6), the robot
The front end of head (5) is equiped with video camera (7), and the side of the machine human body (10) is equiped with robot arm (3), the machine
The side wall of device human body (10) opposite side is provided with shifting chute (17), and the inside of each shifting chute (17) is equipped with movement
Block (11), side of the movable block (11) away from machine human body (10) is provided with the second Crashworthy plate (9) of loop configuration, described
Side of second Crashworthy plate (9) away from movable block (11) is equidistant around provided with multiple decoupling rods (12), the decoupling rod (12)
One end away from the first Crashworthy plate (9) is connected with the first Crashworthy plate (4) jointly, the movable block in shifting chute (17)
(11) a side wall is provided with fixed ball (20), the fixed ball (20) and is fixed with elastic plate (19), the elastic plate
(19) one end away from fixed ball (20) is provided with card ball (18), passes through multiple the between the elastic plate (19) and movable block (11)
Two springs (21) are connected, and the side wall of the shifting chute (17) is provided with groove (16) is promoted, and the inside for promoting groove (16) is provided with
Catch bar (15), the catch bar (15) away from movable block (11) one end be provided with pressing pad (13), the pressing pad (13) with
The side wall of machine human body (10) is fixedly connected, and is additionally provided between the pressing pad (13) and the lateral wall of machine human body (10)
Multiple 4th springs, the inside of the machine human body (10) is provided with controller, input and the video camera (7) of the controller
Output end electrical connection, the output end of the controller and being electrically connected from mobile system in mobile base (1), the controller
Output end electrically connected with the input of antenna；The decoupling rod (12) is by elastic rod and around the 3rd spring being located on elastic rod
Composition.
2. a kind of self-movement robot with anticollision device, collision-prevention device according to claim 1, it is characterised in that the machine person
Multiple range sensors (8), the output end of the range sensor (8) and the input of controller are additionally provided with the side wall of body (10)
End electrical connection.
3. a kind of self-movement robot with anticollision device, collision-prevention device according to claim 1, it is characterised in that the robot
The inside of arm (3) is provided with drive system, and the input of the drive system is read far to electrically connect with the output of controller.
4. a kind of self-movement robot with anticollision device, collision-prevention device according to claim 1, it is characterised in that the mobile base
(1) inside is provided with motor, and the output end of the motor is fixedly connected with machine human body (10), and motor
It is electrically connected with the controller by wire.
5. a kind of self-movement robot with anticollision device, collision-prevention device according to claim 1, it is characterised in that the robot head
(5) side side wall is provided with warning lamp, and the input of the warning lamp is electrically connected with the output end of controller.
6. a kind of self-movement robot with anticollision device, collision-prevention device according to claim 1, it is characterised in that the robot head
(5) voice announcer is additionally provided with side side wall, the input of the voice announcer is electrically connected with the output end of controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710689078.2A CN107309878A (en) | 2017-08-13 | 2017-08-13 | A kind of self-movement robot with anticollision device, collision-prevention device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710689078.2A CN107309878A (en) | 2017-08-13 | 2017-08-13 | A kind of self-movement robot with anticollision device, collision-prevention device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107309878A true CN107309878A (en) | 2017-11-03 |
Family
ID=60170267
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710689078.2A Withdrawn CN107309878A (en) | 2017-08-13 | 2017-08-13 | A kind of self-movement robot with anticollision device, collision-prevention device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107309878A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108262751A (en) * | 2018-02-27 | 2018-07-10 | 南安市丰州盈信图文设计工作室 | Robot with anticollision function |
| CN108724220A (en) * | 2018-07-21 | 2018-11-02 | 南京樯图数据科技有限公司 | A kind of robot applied to meeting |
| CN109908498A (en) * | 2019-04-17 | 2019-06-21 | 江苏省人民医院（南京医科大学第一附属医院） | Radar anti-collision ring for medical accelerator |
-
2017
- 2017-08-13 CN CN201710689078.2A patent/CN107309878A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108262751A (en) * | 2018-02-27 | 2018-07-10 | 南安市丰州盈信图文设计工作室 | Robot with anticollision function |
| CN108724220A (en) * | 2018-07-21 | 2018-11-02 | 南京樯图数据科技有限公司 | A kind of robot applied to meeting |
| CN108724220B (en) * | 2018-07-21 | 2024-04-12 | 南京樯图数据科技有限公司 | Be applied to robot of meeting |
| CN109908498A (en) * | 2019-04-17 | 2019-06-21 | 江苏省人民医院（南京医科大学第一附属医院） | Radar anti-collision ring for medical accelerator |
| CN109908498B (en) * | 2019-04-17 | 2024-08-02 | 江苏省人民医院（南京医科大学第一附属医院） | Radar anti-collision ring for medical accelerator |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20171103 |