CN113942038A - Omnidirectional anti-collision structure for robot chassis - Google Patents
Omnidirectional anti-collision structure for robot chassis Download PDFInfo
- Publication number
- CN113942038A CN113942038A CN202010680135.2A CN202010680135A CN113942038A CN 113942038 A CN113942038 A CN 113942038A CN 202010680135 A CN202010680135 A CN 202010680135A CN 113942038 A CN113942038 A CN 113942038A
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- spring
- robot chassis
- collision
- collision structure
- post
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- 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
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- 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
- B25J19/0004—Braking devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, in particular to an omnidirectional anti-collision structure of a robot chassis, which comprises a micro switch and an anti-collision assembly, wherein the micro switch and the anti-collision assembly are uniformly distributed on a bottom shell along the circumferential direction, the anti-collision assembly comprises a rotary rod, a tension spring, a movable rod and a telescopic spring, the rear end of the rotary rod is hinged to the inner wall of a shell of a body, a first tension spring column is arranged on the upper side of the front end of the rotary rod, a sliding groove block is arranged in the middle of the bottom shell, the rear end of the movable rod is hinged to the middle of the rotary rod, the front end of the movable rod is inserted into the corresponding sliding groove block, a second tension spring column is arranged on the upper side of the middle of the movable rod, the first tension spring column and the second tension spring column are connected through the tension spring, the telescopic spring is arranged in the sliding groove block, and the front end of the movable rod is abutted against the telescopic spring. The invention can realize the aim of omnidirectional anti-collision of the robot and is easy to trigger.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an omnidirectional anti-collision structure of a robot chassis.
Background
The service type robot usually uses navigation technologies such as laser and vision in walking, but under the current technical conditions, the existing navigation technologies still cannot realize complete obstacle avoidance, scratch and collision caused by the fact that the robot cannot brake in time often occur, and great influence is caused on the structure and the function of the robot, so that an anti-collision device needs to be added at a robot chassis to serve as the last barrier of the robot in an emergency situation, but the robot anti-collision structure in the prior art has the problems of inaccurate collision angle, difficult triggering after collision, incapability of realizing omnidirectional anti-collision and the like.
Disclosure of Invention
The invention aims to provide an omnidirectional anti-collision structure of a robot chassis, which can realize omnidirectional anti-collision and is easy to trigger of a robot.
The purpose of the invention is realized by the following technical scheme:
an omnidirectional anti-collision structure of a robot chassis comprises a body shell and a bottom shell, wherein the body shell floats relative to the bottom shell, and further comprises a micro switch and an anti-collision assembly, the micro switch and the anti-collision assembly are uniformly distributed on the bottom shell along the circumferential direction, the anti-collision assembly comprises a rotating rod, a tension spring, a moving rod and a telescopic spring, wherein the rear end of the rotating rod is hinged on the inner wall of the shell of the body, a first tensioning spring post is arranged on the upper side of the front end, the middle part of the bottom shell is provided with a sliding groove block, the rear end of the movable rod is hinged with the middle part of the rotating rod, the front end of the movable rod is inserted into the corresponding sliding groove block, a second tension spring post is arranged on the upper side of the middle part of the movable rod, and the first tension spring post and the second tension spring post are connected through the tension spring, and an extension spring is arranged in the sliding groove block, and the front end of the moving rod is abutted against the extension spring.
The carriage release lever includes the sliding part and is the connecting portion of concavity, wherein connecting portion with the rotary rod is connected, and the sliding part inserts in corresponding the spout piece, just the sliding part tip form the spring pressure face with expanding spring offsets, the sliding part upside is equipped with the taut spring post of second.
The rotary rod middle part is equipped with the connecting hole, connecting portion tip is equipped with rotatory hinge post, just rotatory hinge post inserts in the connecting hole.
The end part of the sliding part is provided with a spring column head, and one end of the telescopic spring is sleeved on the spring column head and is propped against the spring pressing surface.
Articulated blocks are uniformly distributed on the inner wall of the body shell along the circumferential direction, and the rear ends of the rotary rods are articulated with the corresponding articulated blocks.
An inner hole is formed in the middle of the bottom shell, and sliding groove blocks are uniformly distributed on the wall of the inner hole along the circumferential direction.
A plurality of switch mounting platforms are uniformly distributed on the edge of the bottom shell along the circumferential direction, and the micro switches are respectively mounted on the corresponding switch mounting platforms.
Every anticollision subassembly downside all corresponds a micro-gap switch to also all be equipped with micro-gap switch between arbitrary two adjacent anticollision subassemblies.
The invention has the advantages and positive effects that:
1. the anti-collision assembly is provided with the rotating rod and the moving rod, so that the aim of preventing the robot from colliding in all directions can be fulfilled, and the robot can be braked in time by being easily triggered.
2. The anti-collision assembly is provided with the tension spring and the telescopic spring, so that the anti-collision assembly can play a role in buffering during collision and can automatically reset after collision is finished.
3. The invention has simple and compact structure and small occupied space.
Drawings
Figure 1 is a top view of the present invention,
figure 2 is a schematic perspective view of the present invention,
figure 3 is a cross-sectional view of the present invention,
figure 4 is a schematic view of the bottom case of figure 1,
figure 5 is a schematic view of the travel bar of figure 1,
fig. 6 is a schematic view of the rotary lever in fig. 1.
Wherein, 1 is body shell, 11 is articulated piece, 2 is micro-gap switch, 3 is taut spring, 4 is the rotary rod, 41 is first taut spring post, 42 is the connecting hole, 43 is the hinge hole, 5 is the carriage release lever, 51 is the second taut spring post, 52 is rotatory articulated post, 53 is the connecting portion, 54 is the sliding part, 541 is the spring column cap, 542 is the spring pressure face, 6 is the drain pan, 61 is the switch mounting table, 62 is the spout piece, 63 is the inner bore wall, 7 is expanding spring.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 6, the invention comprises a body shell 1, a bottom shell 6, a micro switch 2 and an anti-collision assembly, wherein the body shell 1 floats relative to the bottom shell 6, which is a known technique in the art, the micro switch 2 and the anti-collision assembly are uniformly distributed on the bottom shell 6 along a circumferential direction, as shown in fig. 1 to 3, the anti-collision assembly comprises a rotating rod 4, a tension spring 3, a moving rod 5 and a telescopic spring 7, wherein the rear end of the rotating rod 4 is hinged on the inner wall of the body shell 1, a first tension spring column 41 is arranged on the upper side of the front end, as shown in fig. 4, an inner hole is arranged in the middle of the bottom shell 6, a sliding groove block 62 is uniformly distributed on an inner hole wall 63 along the circumferential direction, the rear end of the moving rod 5 is hinged with the middle of the rotating rod 4, the front end is inserted into a corresponding sliding groove block 62 in the middle of the bottom shell 6, a second tension spring column 51 is arranged on the upper side of the middle of the moving rod 5, and the first tensioning spring column 41 and the second tensioning spring column 51 are connected through the tensioning spring 3, an extension spring 7 is arranged in the sliding groove of the sliding groove block 62, and the front end of the movable rod 5 is abutted against the extension spring 7. As shown in fig. 1, when the obstacle is in the direction of a solid arrow, that is, when the obstacle is a lateral obstacle, the obstacle pushes the body housing 1 to move inward, and at this time, each rotating rod 4 rotates by a certain angle until the body housing 1 touches the micro switch 2 to send a signal to brake the robot, and when the obstacle is in the direction of a hollow arrow, that is, when the obstacle is a forward obstacle, the moving rod 5 on the upper side moves inward, the moving rod 5 on the lower side moves outward, and the rotating rods 4 on the left and right sides still rotate until the body housing touches the micro switch 2 to send a signal to brake the robot.
As shown in fig. 3, hinge blocks 11 are uniformly arranged on the inner wall of the body housing 1 along the circumferential direction, and the rear ends of the rotating rods 4 are hinged to the corresponding hinge blocks 11.
As shown in fig. 6, the rear end of the rotating rod 4 is provided with a hinge hole 43 to be hinged with a corresponding hinge block 11 on the inner wall of the body housing 1 by a pin, the middle of the rotating rod 4 is provided with a connecting hole 42, as shown in fig. 5, the rear end of the moving rod 5 is provided with a rotating hinge column 52, and the rotating hinge column 52 is inserted into the connecting hole 42 to realize the hinge of the moving rod 5 and the rotating rod 4,
as shown in fig. 5, the moving rod 5 includes a sliding portion 54 and a connecting portion 53 having a concave shape, wherein the connecting portion 53 is connected to the rotating rod 4, a rotating hinge post 52 is disposed at an end of the connecting portion 53, the sliding portion 54 is inserted into a sliding slot of the corresponding sliding slot block 62, a spring post 541 is disposed at an end of the sliding portion 54, a spring pressing surface 542 is formed at an end of the sliding portion 54, the extension spring 7 is sleeved on the spring post 541 and abuts against the spring pressing surface 542, the second tension spring post 51 is disposed at an upper side of the sliding portion 54, and as shown in fig. 3, a recessed degree of the connecting portion 53 is to ensure that the second tension spring post 52 is consistent with the first tension spring post 41 on the moving rod 4 in height, thereby ensuring that the tension spring 3 is horizontal.
As shown in fig. 4, a plurality of switch mounting platforms 61 are uniformly distributed on the edge of the bottom shell 6 along the circumferential direction, the micro switches 2 are respectively mounted on the corresponding switch mounting platforms 61, four sets of anti-collision assemblies and eight micro switches 2 are provided in the present embodiment, the lower side of each anti-collision assembly corresponds to one micro switch 2, and one micro switch 2 is also provided between any two adjacent anti-collision assemblies. The microswitch 2 is well known in the art and is a commercially available product.
The working principle of the invention is as follows:
when the robot works, as shown in fig. 1, when the obstacle is in the direction of a solid arrow, namely, when the obstacle is in a lateral direction, the obstacle pushes the body shell 1 to move inwards, and at the moment, each rotating rod 4 is driven by the body shell 1 to rotate at a certain angle until the body shell 1 touches the micro switch 2 to send a signal to brake the robot, and when the obstacle is in the direction of a hollow arrow, namely, when the obstacle is in a positive direction, the moving rod 5 on the upper side in the straight line moves inwards, the moving rod 5 on the lower side moves outwards, and the rotating rods 4 on the left side and the right side still rotate until the body shell touches the micro switch 2 to send a signal to brake the robot. The anti-collision assembly is provided with the tension spring 3 and the extension spring 7 which can play a role of buffering when colliding, and can automatically reset after the collision is finished, and in addition, the rotating rod 4 rotates to realize the purpose of omnidirectional anti-collision, and the anti-collision assembly is easy to trigger to brake the robot in time.
Claims (8)
1. The utility model provides an anticollision structure of robot chassis qxcomm technology, includes body shell and drain pan, and body shell floats its characterized in that for the drain pan: including micro-gap switch (2) and anticollision subassembly, just micro-gap switch (2) and anticollision subassembly all along the circumferencial direction equipartition in on drain pan (6), anticollision subassembly includes rotary rod (4), taut spring (3), carriage release lever (5) and expanding spring (7), wherein rotary rod (4) rear end articulates on this body shell (1) inner wall, the front end upside is equipped with first taut spring post (41), drain pan (6) middle part is equipped with spout piece (62), carriage release lever (5) rear end with rotary rod (4) middle part is articulated, the front end inserts corresponding spout piece (62), carriage release lever (5) middle part upside is equipped with second taut spring post (51), just first taut spring post (41) and second taut spring post (51) pass through taut spring (3) are connected, be equipped with expanding spring (7) in spout piece (62), and the front end of the movable rod (5) is propped against the telescopic spring (7).
2. The omnidirectional anti-collision structure for a robot chassis according to claim 1, wherein: the movable rod (5) comprises a sliding part (54) and a concave connecting part (53), wherein the connecting part (53) is connected with the rotating rod (4), the sliding part (54) is inserted into a corresponding sliding groove block (62), a spring pressing surface (542) is formed at the end part of the sliding part (54) and is abutted against the extension spring (7), and the second tension spring column (51) is arranged on the upper side of the sliding part (54).
3. The omnidirectional anti-collision structure for a robot chassis according to claim 2, wherein: rotating rod (4) middle part is equipped with connecting hole (42), connecting portion (53) tip is equipped with rotatory articulated post (52), just rotatory articulated post (52) insert in connecting hole (42).
4. The omnidirectional anti-collision structure for a robot chassis according to claim 2, wherein: the end part of the sliding part (54) is provided with a spring column head (541), and one end of the telescopic spring (7) is sleeved on the spring column head (541) and is propped against the spring pressing surface (542).
5. The omnidirectional anti-collision structure for a robot chassis according to claim 1, wherein: body shell (1) inner wall is gone up and is equipped with articulated piece (11) along the circumferencial direction equipartition, just rotary rod (4) rear end is articulated with articulated piece (11) that correspond.
6. The omnidirectional anti-collision structure for a robot chassis according to claim 1, wherein: an inner hole is formed in the middle of the bottom shell (6), and sliding groove blocks (62) are uniformly distributed on the wall (63) of the inner hole along the circumferential direction.
7. The omnidirectional anti-collision structure for a robot chassis according to claim 1, wherein: the edge of the bottom shell (6) is uniformly distributed with a plurality of switch mounting platforms (61) along the circumferential direction, and the micro switches (2) are respectively mounted on the corresponding switch mounting platforms (61).
8. The omnidirectional anti-collision structure for a robot chassis according to claim 1, wherein: every anticollision subassembly downside all corresponds a micro-gap switch (2) to also all be equipped with micro-gap switch (2) between two arbitrary adjacent anticollision subassemblies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010680135.2A CN113942038B (en) | 2020-07-15 | 2020-07-15 | Omnidirectional anti-collision structure of robot chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010680135.2A CN113942038B (en) | 2020-07-15 | 2020-07-15 | Omnidirectional anti-collision structure of robot chassis |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113942038A true CN113942038A (en) | 2022-01-18 |
| CN113942038B CN113942038B (en) | 2023-07-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010680135.2A Active CN113942038B (en) | 2020-07-15 | 2020-07-15 | Omnidirectional anti-collision structure of robot chassis |
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| Country | Link |
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| CN (1) | CN113942038B (en) |
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| CN209579575U (en) * | 2019-01-15 | 2019-11-05 | 内蒙古工业大学 | A kind of robot automatic anticollision control system |
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| CN210025365U (en) * | 2019-06-04 | 2020-02-07 | 河北明皿航空科技有限公司 | Robot with collision protection function |
| DE102018220482A1 (en) * | 2018-11-28 | 2020-05-28 | Psa Automobiles Sa | Collision detector for a robot arm |
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2020
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Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204500541U (en) * | 2015-03-20 | 2015-07-29 | 杭州信多达电器有限公司 | A kind of Intelligent robot for sweeping floor crusherbull zone module |
| CN205651378U (en) * | 2016-03-18 | 2016-10-19 | 珠海市一微半导体有限公司 | Collision detection system of robot |
| CN106625609A (en) * | 2017-02-14 | 2017-05-10 | 上海木爷机器人技术有限公司 | Anti-collision structure and robot |
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| Publication number | Publication date |
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| CN113942038B (en) | 2023-07-25 |
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