CN109571474A - A kind of steering collision auxiliary device of walking robot - Google Patents
A kind of steering collision auxiliary device of walking robot Download PDFInfo
- Publication number
- CN109571474A CN109571474A CN201811481237.0A CN201811481237A CN109571474A CN 109571474 A CN109571474 A CN 109571474A CN 201811481237 A CN201811481237 A CN 201811481237A CN 109571474 A CN109571474 A CN 109571474A
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- CN
- China
- Prior art keywords
- fixedly connected
- collision
- steering
- bar
- defence
- Prior art date
- 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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- 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
- B25J19/0008—Balancing devices
- B25J19/0016—Balancing devices using springs
-
- 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)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of steerings of walking robot to collide auxiliary device, including supporting riser, energy-absorbing slot is fixedly connected at the top of support riser, the internal slide of energy-absorbing slot is connected with bending energy-absorbing plate, surface on the outside of bending energy-absorbing plate is uniformly arranged fluted, the two sides of groove inner wall are fixedly connected to fixed side frame, fixed side frame runs through close to internal side and slidably connects interpolation pole, the outside that interpolation pole is located at fixed side frame is fixedly connected with oblique printing forme, the bottom end of oblique printing forme is fixedly connected with card slot, the inside of groove is provided with collision steering mechanism, bending energy-absorbing board bottom is fixedly connected to spring stop at left and right sides of portion, position between spring stop is fixedly connected with cushioning supportive crossbeam, the present invention relates to robotic technology fields.Auxiliary device is collided in the steering of the walking robot, has reached and has turned to convenient for the low robot assisted of intelligence, improves the purpose that robot executes task efficiency.
Description
Technical field
The present invention relates to robotic technology field, auxiliary device is collided in the steering of specially a kind of walking robot.
Background technique
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work.
Robot body, arm generally use space open chain connecting rod mechanism, kinematic pair (revolute pair or movement therein
It is secondary) it is frequently referred to joint, joint number is usually the number of degrees of freedom, of robot.According to joint configuration and motion coordinates form
Difference, robot actuating mechanism can be divided into the types such as Cartesian coordinate type, cylindrical coordinate type, polar coordinates type and joint coordinate type.
For the sake of personification, the related position of robot body is often referred to as pedestal, waist, arm, wrist, hand (folder
Holder or end effector) and running part (for mobile robot) etc..
Whole controls of device people are completed by a microcomputer.Another kind is dispersion (grade) formula control, that is, uses more
Microcomputer shares the control of robot, and such as when completing the control of robot jointly using upper and lower two-level microcomputer, host is usually used in
It is responsible for management, communication, kinematics and the dynamics calculation of system, and sends command information to junior's microcomputer；As junior's slave,
Each joint respectively corresponds a CPU, carries out interpolation operation and SERVO CONTROL processing, realizes given movement, and feed back to host
Information.According to the difference that job task requires, the control mode of robot can be divided into point position control, continuous path control and power again
(torque) control.
Walking robot is poor to the perception of ambient enviroment at present, it may appear that collision is generated with wall or other objects, and
And there will not be perception after colliding, to continue to move forward, the mobile phenomenon in robot original place is formed, task efficiency is executed
It is low, and to will cause robot interior element bad for the vibration collided.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, the present invention provides a kind of steerings of walking robot to collide auxiliary device, solves
Current walking robot is poor to the perception of ambient enviroment, it may appear that generates collision with wall or other objects, and occurs
It there will not be perception after collision, to continue to move forward, form the mobile phenomenon in robot original place, execute task low efficiency, and
And the vibration of collision will cause the bad problem of robot interior element.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs: a kind of steering of walking robot is touched
Hit auxiliary device, including support riser, be fixedly connected with energy-absorbing slot at the top of the support riser, the energy-absorbing slot it is interior
Portion slidably connects bending energy-absorbing plate, the surface on the outside of the bending energy-absorbing plate be uniformly arranged it is fluted, the groove inner wall
Two sides are fixedly connected to fixed side frame, and the fixed side frame runs through and slidably connect interpolation pole, institute close to internal side
It states interpolation pole and is fixedly connected with oblique printing forme positioned at the outside of fixed side frame, the bottom end of the oblique printing forme is fixedly connected with card slot, institute
The inside for stating groove is provided with collision steering mechanism, and the bending energy-absorbing board bottom is fixedly connected to spring at left and right sides of portion
Baffle, the position between the spring stop are fixedly connected with cushioning supportive crossbeam, and the spring stop is close to external side
It is fixedly connected by squeezing spring with support riser；
The collision steering mechanism includes collision defence bar, and the collision defends the two sides outside bar close to top fixed
It is connected with firm connecting rod, the bottom end of the firm connecting rod is fixedly connected with kelly, and the kelly and card slot are clamped, and the collision is anti-
The bottom end of imperial bar extends to the inside of groove, and the middle position inside the collision defence bar is fixedly connected with lower cushioning fender,
The left side and the left side at the top of collision defence bar of the lower cushioning fender are fixedly connected with restricted slot, the limitation slot
Collision guide rod is run through and slidably connected in inside, and one end that the collision guide rod is located at outside collision defence bar, which is rotatably connected to, to be connect
Idler wheel is touched, the collision is defendd inside bar and be located at below collision guide rod to be fixedly connected with tactile sensor, and the collision is prevented
Master controller is fixedly connected with inside the right side of imperial bar.
Preferably, the right side of the lower cushioning fender and collision defend the right side at the top of bar to be fixedly connected to steering oblique cutting
Slot, the inside for turning to oblique cutting slot are run through and slidably connect steering drive rod.
Preferably, described one end for turning to drive rod outside collision defence bar is fixedly connected with steering top.
Preferably, the bottom end for turning to drive rod inside collision defence bar is fixedly connected with driving inclined plate, described
The two sides of driving inclined plate bottom end pass through to be fixedly connected inside driving spring and collision defence bar.
Preferably, the intermediate seat of the driving inclined plate bottom end is connected by fixed inside electric telescopic rod and collision defence bar
It connects.
Preferably, the collision guide rod is located at one end inside collision defence bar and fixes positioned at the top of lower cushioning fender
It is connected with buffer board.
Preferably, the outer surface that the collision guide rod is located at upper buffer board is arranged with buffer spring.
Preferably, the bottom end of the support riser is fixedly connected to mounting blocks, and the oblique printing forme is located in fixed side frame
The one end in portion is fixedly connected with inner top panel, and the inner top panel is fixedly connected by limited spring with fixed side frame.
Preferably, there are five the collision steering mechanism settings.
Preferably, the output end of the tactile sensor is connect with master controller, the output end and electricity of the master controller
Dynamic telescopic rod connection.
(3) beneficial effect
The present invention provides a kind of steerings of walking robot to collide auxiliary device.Have it is following the utility model has the advantages that
Auxiliary device is collided in the steering of the walking robot, by the way that the both ends of bending energy-absorbing plate are inserted into energy-absorbing slot
Portion, then mounting blocks are fixed by bolt with robot side, it is easy for removal and installation, when slight impact occurs, contact rolling
Inside extrusion and collision guide rod is taken turns, so that buffer spring is squeezed between upper buffer board and lower cushioning fender, so that buffer spring is alleviated
Collide the power generated, when sharp impacts occur, buffer spring at this time be in complete confined state, collide guide rod bottom end and
Tactile sensor contact, tactile sensor transmit a signal to master controller, and master controller controls electric telescopic rod moment outward
Release driving inclined plate turns to drive rod in the guidance for turning to oblique cutting slot to drive inclined plate that steering drive rod is driven to be displaced outwardly
Lower drive turns to top and contacts with external impact body, so that walking robot collision course changes, walking robot
Be not in that original place stops phenomenon, reached and turned to convenient for the low robot assisted of intelligence, improves robot and execute task effect
The purpose of rate.
Detailed description of the invention
Fig. 1 is the whole structural schematic diagram of the present invention；
Fig. 2 is the structural schematic diagram at A of the present invention；
Fig. 3 is the structural schematic diagram of present invention collision steering mechanism；
Fig. 4 is the structural schematic diagram at B of the present invention；
Fig. 5 is the structural block diagram of sensing element of the present invention.
In figure: 1 support riser, 2 energy-absorbing slots, 3 bending energy-absorbing plates, 4 grooves, 5 fixed side frames, 6 interpolation poles, 7 oblique printing formes,
8 card slots, 9 spring stops, 10 cushioning supportive crossbeams, 11 squeeze spring, 12 collision steering mechanism, 1201 collision defence bars, 1202
Firm connecting rod, 1203 kellies, 1204 lower cushioning fenders, 1205 limitation slots, 1206 collision guide rods, 1207 contact rollers, 1208
Tactile sensor, 1209 master controllers, 1210 steering oblique cutting slots, 1211 turn to drive rods, 1212 steering tops, 1213 drivings tiltedly
Plate, 1214 driving springs, 1215 electric telescopic rods, buffer board on 1216,1217 buffer springs, 13 mounting blocks, 14 limited springs,
15 inner top panels.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-5 is please referred to, the present invention provides a kind of technical solution: a kind of steering collision auxiliary device of walking robot,
Including supporting riser 1, the top of support riser 1 is fixedly connected with energy-absorbing slot 2, and the internal slide of energy-absorbing slot 2 is connected with curved
The surface of bent energy-absorbing plate 3,3 outside of bending energy-absorbing plate is uniformly arranged fluted 4, and the two sides of 4 inner wall of groove are fixedly connected to solid
Determine side frame 5, fixed side frame 5 runs through and slidably connect interpolation pole 6 close to internal side, and interpolation pole 6 is located at fixed side frame 5
Outside is fixedly connected with oblique printing forme 7, and the bottom end of oblique printing forme 7 is fixedly connected with card slot 8, and the inside of groove 4 is provided with collision and turns
To mechanism 12, spring stop 9 is fixedly connected at left and right sides of 3 bottom of bending energy-absorbing plate, the position between spring stop 9 is solid
Surely it is connected with cushioning supportive crossbeam 10, spring stop 9 passes through close to external side to be squeezed spring 11 and support riser 1 fixed
Connection；
Colliding steering mechanism 12 includes collision defence bar 1201, and 1201 outsides of collision defence bar are solid close to the two sides on top
Surely it is connected with firm connecting rod 1202, the bottom end of firm connecting rod 1202 is fixedly connected with kelly 1203, and kelly 1203 and card slot 8 block
It connects, the bottom end of collision defence bar 1201 extends to the inside of groove 4, and the middle position inside collision defence bar 1201 is fixedly connected
There is lower cushioning fender 1204, the left side at 1201 top of left side and collision defence bar of lower cushioning fender 1204 is fixedly connected with limited
Collision guide rod 1206 is run through and slidably connected in the inside of slot 1205 processed, limitation slot 1205, and collision guide rod 1206, which is located at, to be touched
It hits one end outside defence bar 1201 and is rotatably connected to contact roller 1207, collision defends 1201 inside of bar and is located at collision guide rod
1206 lower section is fixedly connected with tactile sensor 1208, is fixedly connected with master controller inside the right side of collision defence bar 1201
1209.The right side at 1201 top of right side and collision defence bar of lower cushioning fender 1204, which is fixedly connected to, turns to oblique cutting slot
1210, the inside for turning to oblique cutting slot 1210, which is run through and slidably connected, turns to drive rod 1211.Steering drive rod 1211, which is located at, to be touched
It hits one end outside defence bar 1201 and is fixedly connected with steering top 1212.It turns to drive rod 1211 and is located at collision defence bar 1201
Internal bottom end is fixedly connected with driving inclined plate 1213, and the two sides of driving 1213 bottom end of inclined plate pass through driving spring 1214 and touch
It hits and is fixedly connected inside defence bar 1201.Drive the intermediate seat of 1213 bottom end of inclined plate anti-by electric telescopic rod 1215 and collision
It is fixedly connected inside imperial bar 1201.It collides one end that guide rod 1206 is located inside collision defence bar 1201 and is located at lower cushioning fender
1204 top is fixedly connected with buffer board 1216.The outer surface that collision guide rod 1206 is located at upper buffer board 1216 is arranged with slow
Rush spring 1217.The bottom end of support riser 1 is fixedly connected to mounting blocks 13, and the oblique printing forme 7 is located inside fixed side frame 5
One end is fixedly connected with inner top panel 15, and the inner top panel 15 is fixedly connected by limited spring 14 with fixed side frame 5.Collision turns to
There are five the settings of mechanism 12.The output end of tactile sensor 1208 is connect with master controller 1209, the output of master controller 1209
End is connect with electric telescopic rod 1215.
In use, by the way that the both ends of bending energy-absorbing plate 3 are inserted into inside energy-absorbing slot 2, then mounting blocks 13 are passed through into bolt
It is fixed with robot side, it is easy for removal and installation, when slight impact occurs, the inside extrusion and collision guide rod of contact roller 1207
1206, so that buffer spring 1217 is squeezed between upper buffer board 1216 and lower cushioning fender 1204, so that buffer spring 1217 is slow
The power that solution collision generates, when sharp impacts occur, buffer spring 1217 at this time is in complete confined state, collides guide rod
1206 bottom ends are contacted with tactile sensor 1208, and tactile sensor 1208 transmits a signal to master controller 1209, master controller
1209 control 1215 moments of electric telescopic rod discharged driving inclined plate 1213 outward, so that driving inclined plate 1213 to drive turns to drive rod
1211 are displaced outwardly, and turn to drive rod 1211 and drive steering top 1212 and external impact under the guidance for turning to oblique cutting slot 1210
Body contact, so that walking robot collision course changes, walking robot is not in that original place stops phenomenon, is reached
It is turned to convenient for the low robot assisted of intelligence, improves the purpose that robot executes task efficiency.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions.By sentence " element limited including one ..., it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element ".
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. auxiliary device, including support riser (1) are collided in a kind of steering of walking robot, it is characterised in that: the support is perpendicular
It is fixedly connected at the top of plate (1) energy-absorbing slot (2), the internal slide of the energy-absorbing slot (2) is connected with bending energy-absorbing plate
(3), the surface on the outside of the bending energy-absorbing plate (3) is uniformly arranged fluted (4), and the two sides of groove (4) inner wall are fixed
It is connected with fixed side frame (5), the fixed side frame (5) is run through and slidably connected interpolation pole (6) close to internal side, described
The outside that interpolation pole (6) is located at fixed side frame (5) is fixedly connected with oblique printing forme (7), and the bottom end of the oblique printing forme (7) is fixedly connected
Have card slot (8), the inside of the groove (4) is provided with collision steering mechanism (12), a left side for bending energy-absorbing plate (3) bottom
Right two sides are fixedly connected to spring stop (9), and the position between the spring stop (9) is fixedly connected with cushioning supportive crossbeam
(10), the spring stop (9) passes through extruding spring (11) close to external side and is fixedly connected with support riser (1)；
The collision steering mechanism (12) includes collision defence bar (1201), and collision defence bar (1201) is external close to top
Two sides be fixedly connected to firm connecting rod (1202), the bottom end of the firm connecting rod (1202) is fixedly connected with kelly
(1203), the kelly (1203) and card slot (8) are clamped, and the bottom end of collision defence bar (1201) extends to groove (4)
Inside, the internal middle position of collision defence bar (1201) are fixedly connected with lower cushioning fender (1204), the lower buffering
The left side and the left side at the top of collision defence bar (1201) of baffle (1204) are fixedly connected with restricted slot (1205), the limit
Collision guide rod (1206) is run through and slidably connected in the inside of slot (1205) processed, and it is anti-that the collision guide rod (1206) is located at collision
Imperial bar (1201) external one end is rotatably connected to contact roller (1207), and the collision defends bar (1201) internal and be located to touch
It hits and is fixedly connected with tactile sensor (1208) below guide rod (1206), it is solid inside the right side of collision defence bar (1201)
Surely master controller (1209) are connected with.
2. auxiliary device is collided in a kind of steering of walking robot according to claim 1, it is characterised in that: described lower slow
The right side rushed at the top of the right side and collision defence bar (1201) of baffle (1204), which is fixedly connected to, turns to oblique cutting slot (1210), institute
The inside for stating steering oblique cutting slot (1210), which is run through and slidably connected, turns to drive rod (1211).
3. auxiliary device is collided in a kind of steering of walking robot according to claim 2, it is characterised in that: the steering
Drive rod (1211) is located at the external one end of collision defence bar (1201) and is fixedly connected with steering top (1212).
4. auxiliary device is collided in a kind of steering of walking robot according to claim 3, it is characterised in that: the steering
Drive rod (1211) is located at the internal bottom end of collision defence bar (1201) and is fixedly connected with driving inclined plate (1213), and the driving is oblique
The two sides of plate (1213) bottom end pass through to be fixedly connected inside driving spring (1214) and collision defence bar (1201).
5. auxiliary device is collided in a kind of steering of walking robot according to claim 4, it is characterised in that: the driving
The intermediate seat of inclined plate (1213) bottom end inside electric telescopic rod (1215) and collision defence bar (1201) by being fixedly connected.
6. auxiliary device is collided in a kind of steering of walking robot according to claim 1, it is characterised in that: the collision
Guide rod (1206), which is located at the internal one end of collision defence bar (1201) and is located above lower cushioning fender (1204), to be fixedly connected
There are upper buffer board (1216).
7. auxiliary device is collided in a kind of steering of walking robot according to claim 6, it is characterised in that: the collision
The outer surface that guide rod (1206) is located at upper buffer board (1216) is arranged with buffer spring (1217).
8. auxiliary device is collided in a kind of steering of walking robot according to claim 1, it is characterised in that: the support
The bottom end of riser (1) is fixedly connected to mounting blocks (13), and it is solid that the oblique printing forme (7) is located at fixed side frame (5) internal one end
Surely it is connected with inner top panel (15), the inner top panel (15) is fixedly connected by limited spring (14) with fixed side frame (5).
9. auxiliary device is collided in a kind of steering of walking robot according to claim 1, it is characterised in that: the collision
There are five steering mechanism (12) settings.
10. auxiliary device is collided in a kind of steering of walking robot according to claim 1, it is characterised in that: the touching
The output end of pressure sensor (1208) is connect with master controller (1209), and the output end of the master controller (1209) is stretched with electronic
Contracting bar (1215) connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811481237.0A CN109571474A (en) | 2018-12-05 | 2018-12-05 | A kind of steering collision auxiliary device of walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811481237.0A CN109571474A (en) | 2018-12-05 | 2018-12-05 | A kind of steering collision auxiliary device of walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109571474A true CN109571474A (en) | 2019-04-05 |
Family
ID=65926043
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811481237.0A Withdrawn CN109571474A (en) | 2018-12-05 | 2018-12-05 | A kind of steering collision auxiliary device of walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109571474A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110804984A (en) * | 2019-11-06 | 2020-02-18 | 深圳市雄鹰清洁服务有限公司 | Pavement maintenance equipment |
-
2018
- 2018-12-05 CN CN201811481237.0A patent/CN109571474A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110804984A (en) * | 2019-11-06 | 2020-02-18 | 深圳市雄鹰清洁服务有限公司 | Pavement maintenance equipment |
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Application publication date: 20190405 |