CN115519560B - Anti-collision structure for service robot and using method - Google Patents
Anti-collision structure for service robot and using method Download PDFInfo
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- CN115519560B CN115519560B CN202211465679.2A CN202211465679A CN115519560B CN 115519560 B CN115519560 B CN 115519560B CN 202211465679 A CN202211465679 A CN 202211465679A CN 115519560 B CN115519560 B CN 115519560B
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- service robot
- arc
- protective cover
- fixedly connected
- buffer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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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
- B25J19/06—Safety devices
- B25J19/063—Safety devices working only upon contact with an outside object
- B25J19/065—Mechanical fuse
Abstract
The invention discloses an anti-collision structure for a service robot and a using method of the anti-collision structure. According to the invention, the protective cover is firstly contacted with an object, the object cannot directly collide with the service robot, after the protective cover is collided, the protective cover moves towards the right side, the protective cover drives the arc-shaped supporting plate to rotate, the arc-shaped supporting plate drives the pulling block to rotate, the pulling block stretches the elastic pulling rope, the rotating speed of the arc-shaped supporting plate is reduced through the pulling force of the elastic pulling rope, the rotating speed of the arc-shaped supporting plate is reduced, and the effect of reducing the moving speed of the protective cover can be achieved, so that the protective cover has the effect of anti-collision protection, the surface of the service robot is not damaged, the image cannot be subjected to the image, components on the surface of the service robot are protected, and the safety of the service robot is improved.
Description
Technical Field
The invention relates to the technical field of service robots, in particular to an anti-collision structure for a service robot and a using method.
Background
The service robot needs to be used in the hotel service process, the traditional service robot can avoid the impact of exempting from to the object in the moving process, after the service robot impacts for many times, the surface of the service robot is knocked down, the image can be reduced, components and parts on the surface of the service robot can be damaged simultaneously, and the safety of the service robot is reduced.
Disclosure of Invention
In order to solve the problems in the background art, the invention aims to provide an anti-collision structure for a service robot and a using method thereof, which have the advantages of anti-collision protection and solve the problems that after the service robot is impacted for many times, the surface of the service robot is knocked and damaged, the image is reduced, meanwhile, components on the surface of the service robot are damaged, and the safety of the service robot is reduced.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a service robot is with crashproof structure and application method, includes the service robot, the left side of service robot is provided with the protection casing, the equal fixedly connected with buffer beam in the left four corners of protection casing inner wall, the surface cover of buffer beam is equipped with the installation piece, the inside of buffer beam is provided with buffering elastic rope, the equal fixed connection in the right side of installation piece in top and bottom of buffering elastic rope, the left side fixedly connected with box of service robot, the top of box inner chamber and bottom all articulate through the round pin axle has arc backup pad, the arc backup pad is kept away from one side of box and is extended to the outside of box, the fixed surface of arc backup pad is connected with the pulling block, the pulling block is located the inside of box, the inside of pulling block is provided with the elasticity stay cord, the left side fixedly connected with the fixed column of box inner wall, the side that the elasticity stay cord is close to the fixed column is located the inside of fixed column, the one side that the pulling block was kept away from the fixed column is through gasket fixed connection with the stable elastic plate, the one side fixedly connected with the fly leaf that the stable elastic plate was kept away from the fixed column, one side of fly leaf is connected with the screw rod in the activity connection of fly leaf on the side of fixed column of service robot, one side that the screw rod was kept away from the fixed column runs through to the outside of box.
Preferably, one side, far away from the box body, of the arc-shaped supporting plate is hinged with a pulley through a pin shaft, a vertical groove is formed in the left side of the inner wall of the protective cover, and the pulley is located inside the vertical groove.
Preferably, a reinforcing plate is fixedly connected to the left side of the surface of the buffer rod, and the left side of the reinforcing plate is fixedly connected to the left side of the inner wall of the protective cover.
Preferably, the right side of the arc-shaped support plate is fixedly connected with a V-shaped elastic sheet, and the right side of the V-shaped elastic sheet is fixedly connected to the left side of the service robot.
Preferably, a torsion block is fixedly connected to one side of the screw rod, which is far away from the fixed column, a stabilizing plate is sleeved on the surface of the screw rod, stabilizing bars are fixedly connected to four corners of one side of the stabilizing plate, which is close to the fixed column, and one side of the stabilizing bar, which is close to the movable plate, penetrates into the box body and is fixedly connected to the surface of the movable plate.
Preferably, the surface of the buffer rod is fixedly connected with a limiting block, and the surface of the limiting block is in contact with the surface of the mounting block.
Preferably, the left side of the inner wall of the buffer rod is fixedly connected with an arc block, and the surface of the arc block is in contact with the surface of the buffer elastic rope.
Preferably, the method comprises the following steps:
s1: in the walking process of the service robot, when the service robot impacts an object, firstly, the protective cover is in contact with the object, the object cannot directly collide with the service robot, after the protective cover is impacted, the protective cover moves to the right side, the protective cover drives the arc-shaped supporting plate to rotate towards one side close to the service robot by taking the center of the pin shaft, the arc-shaped supporting plate drives the pull block to rotate towards one side far away from the fixed column by taking the pin shaft as the center, the pull block stretches the elastic pull rope, the rotating speed of the arc-shaped supporting plate is reduced by the pulling force of the elastic pull rope, the rotating speed of the arc-shaped supporting plate is reduced, the effect that the protective cover moves to reduce the speed is achieved, the effect that the protective cover has anti-impact protection is achieved, and S2 is executed when the protective cover needs to be stably buffered;
s2: the protective cover drives the buffer rod to move towards the right side, the buffer rod and the protective cover can stably slide towards the right side in a horizontal state through the matching of the mounting blocks, the buffer rod drives the buffer elastic rope to stretch towards the right side during the period, the effect of reducing the moving speed of the buffer rod is achieved through the tensile force of the buffer elastic rope, meanwhile, the effect of good buffer performance of the protective cover is achieved, and S3 is executed when the force required by the rotation of the arc-shaped supporting plate needs to be adjusted;
s3: when the arc backup pad was rotated easily, the speed that the protection casing was removed by the striking was just faster, the protection casing had played anti striking protection effect and just is worse more, when making the arc backup pad can not rotated easily, rotatory screw rod, the screw rod drives the fly leaf and removes to one side that is close to the fixed column, the elastic plate is stabilized in the fly leaf compression, the elasticity promotion pull block that stable elastic plate produced is difficult to by the upset, the pull block is difficult to by the upset back, the arc backup pad just is difficult to by the upset, at this moment, the striking dynamics that can bear of arc backup pad increases.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the protective cover is firstly contacted with an object, the object cannot directly collide with the service robot, after the protective cover is collided, the protective cover moves towards the right side, the protective cover drives the arc-shaped supporting plate to rotate, the arc-shaped supporting plate drives the pulling block to rotate, the pulling block stretches the elastic pulling rope, the rotating speed of the arc-shaped supporting plate is reduced through the pulling force of the elastic pulling rope, the rotating speed of the arc-shaped supporting plate is reduced, and the effect of reducing the moving speed of the protective cover can be achieved, so that the protective cover has the effect of anti-collision protection, the surface of the service robot is not damaged, the image cannot be subjected to the image, components on the surface of the service robot are protected, and the safety of the service robot is improved.
2. According to the invention, the pulley is arranged, so that the arc-shaped support plate can be isolated from being contacted with the protective cover, and the phenomenon that the protective cover is scratched in the moving process of the arc-shaped support plate is avoided.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged view of the structure at A in FIG. 1;
FIG. 3 is an enlarged view of the structure at B in FIG. 1;
FIG. 4 is an enlarged view of the structure of FIG. 1 at C according to the present invention;
FIG. 5 is a perspective view of the shield of the present invention;
FIG. 6 is a perspective view of the stop of the present invention.
In the figure: 1. a service robot; 2. a protective cover; 3. a buffer rod; 4. mounting a block; 5. buffering the elastic rope; 6. a box body; 7. an arc-shaped support plate; 8. pulling the block; 9. an elastic pull rope; 10. fixing the column; 11. stabilizing the elastic plate; 12. a movable plate; 13. a screw; 14. a pulley; 15. a vertical slot; 16. a reinforcing sheet; 17. a V-shaped elastic sheet; 18. twisting the block; 19. a stabilizing plate; 20. a stabilizer bar; 21. a limiting block; 22. an arc block.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
As shown in fig. 1 to 6, the anti-collision structure for a service robot and the using method thereof provided by the invention include a service robot 1, a protective cover 2 is arranged on the left side of the service robot 1, buffer rods 3 are fixedly connected to four corners on the left side of the inner wall of the protective cover 2, an installation block 4 is sleeved on the surface of each buffer rod 3, a buffer elastic rope 5 is arranged inside each buffer rod 3, tops and bottoms of the buffer elastic ropes 5 are fixedly connected to the right side of the installation block 4, a box 6 is fixedly connected to the left side of the service robot 1, arc support plates 7 are hinged to the tops and bottoms of inner cavities of the box 6 through pin shafts, one sides of the arc support plates 7 far away from the box 6 extend to the outer side of the box 6, pull blocks 8 are fixedly connected to the surfaces of the arc support plates 7, the pull blocks 8 are positioned inside the box 6, elastic pull ropes 9 are arranged inside the pull blocks 8, fixed columns 10 are fixedly connected to the left side of the inner wall of the box 6, one sides of the elastic pull blocks 9 near the fixed columns 10 are positioned inside the fixed columns 10, one sides of the pull blocks 8 far away from the fixed columns 11 are fixedly connected to the movable plates 12, and one sides of the movable plates 13 far away from the screw rods of the box 6 are connected to the outer sides of the fixed plates 13 far away from the outer sides of the service robot.
Referring to fig. 2, one side of the arc-shaped supporting plate 7, which is far away from the box body 6, is hinged with a pulley 14 through a pin shaft, a vertical groove 15 is formed in the left side of the inner wall of the protective cover 2, and the pulley 14 is located inside the vertical groove 15.
As a technical optimization scheme of the invention, the pulley 14 is arranged, so that the arc-shaped support plate 7 can be isolated from being contacted with the protective cover 2, and the phenomenon that the protective cover 2 is scratched in the moving process of the arc-shaped support plate 7 is avoided.
Referring to fig. 2, a reinforcing plate 16 is fixedly connected to a left side of the surface of the buffer rod 3, and the reinforcing plate 16 is fixedly connected to a left side of the inner wall of the shield 2.
As a technical optimization scheme of the invention, the joint of the buffer rod 3 and the protective cover 2 can be reinforced by arranging the reinforcing sheet 16, so that the phenomenon that the buffer rod 3 is broken in the long-term use process is avoided.
Referring to fig. 2, a V-shaped elastic sheet 17 is fixedly connected to the right side of the arc-shaped support plate 7, and the right side of the V-shaped elastic sheet 17 is fixedly connected to the left side of the service robot 1.
As a technical optimization scheme of the invention, the V-shaped elastic sheet 17 is arranged, so that the elasticity of the arc-shaped supporting plate 7 can be increased in an auxiliary manner, and the effect of increasing the impact resistance of the protective cover 2 is achieved.
Referring to fig. 3, a torsion block 18 is fixedly connected to a side of the screw 13 away from the fixed column 10, a stabilizing plate 19 is sleeved on a surface of the screw 13, stabilizing bars 20 are fixedly connected to four corners of the stabilizing plate 19 near the fixed column 10, and a side of the stabilizing bar 20 near the movable plate 12 penetrates into the box 6 and is fixedly connected to a surface of the movable plate 12.
As a technical optimization scheme of the invention, the screw 13 can be conveniently rotated by a user by arranging the twisting block 18, and the phenomenon that the screw 13 is difficult to twist and rotate is avoided.
Referring to fig. 4, a stopper 21 is fixedly connected to a surface of the buffer rod 3, and a surface of the stopper 21 contacts a surface of the mounting block 4.
As a technical optimization scheme of the invention, the buffer rod 3 can be limited by arranging the limiting block 21, so that the phenomenon of excessive movement of the buffer rod 3 in the process of moving to the left side is avoided.
Referring to fig. 4, the left side of the inner wall of the buffer rod 3 is fixedly connected with an arc block 22, and the surface of the arc block 22 is in contact with the surface of the buffer elastic cord 5.
As a technical optimization scheme of the invention, the arc block 22 is arranged, so that the buffer elastic rope 5 can be isolated from being contacted with the buffer rod 3, and the phenomenon that the buffer elastic rope 5 is cut by the buffer rod 3 in the using process is avoided.
Referring to fig. 3, the following steps are included:
s1: in the walking process of the service robot 1, when the service robot 1 collides with an object, firstly, the protective cover 2 is in contact with the object, the object cannot directly collide with the service robot 1, after the protective cover 2 is collided, the protective cover 2 moves towards the right side, the protective cover 2 drives the arc-shaped supporting plate 7 to rotate towards one side close to the service robot 1 by the center of the pin shaft, the arc-shaped supporting plate 7 drives the pull block 8 to rotate towards one side far away from the fixed column 10 by taking the pin shaft as the center, the pull block 8 stretches the elastic pull rope 9, the rotating speed of the arc-shaped supporting plate 7 is reduced by the pulling force of the elastic pull rope 9, the rotating speed of the arc-shaped supporting plate 7 is reduced, the moving and speed reduction effects of the protective cover 2 can be achieved, the anti-collision protection effect of the protective cover 2 is achieved, and S2 is executed when the protective cover 2 needs to stably buffer;
s2: the protective cover 2 drives the buffer rod 3 to move towards the right side, the buffer rod 3 and the protective cover 2 can stably slide towards the right side in a horizontal state through the matching of the mounting block 4, the buffer rod 3 drives the buffer elastic rope 5 to stretch towards the right side during the period, the effect of slowing down the moving speed of the buffer rod 3 is achieved through the tensile force of the buffer elastic rope 5, meanwhile, the effect of good buffer performance of the protective cover 2 is achieved, and S3 is executed when the force required by the rotation of the arc-shaped supporting plate 7 needs to be adjusted;
s3: when the arc-shaped supporting plate 7 is easily rotated, the speed of the protective cover 2 moving due to impact is faster, the protective cover 2 has poor impact-resistant protection effect, and the arc-shaped supporting plate 7 cannot be easily rotated, the screw 13 is rotated, the screw 13 drives the movable plate 12 to move towards one side close to the fixed column 10, the movable plate 12 compresses the stable elastic plate 11, the elastic force generated by the stable elastic plate 11 pushes the pull block 8 to be difficult to overturn, after the pull block 8 is difficult to overturn, the arc-shaped supporting plate 7 is difficult to overturn, and at this moment, the bearable impact force of the arc-shaped supporting plate 7 is increased.
The working principle and the using process of the invention are as follows: when the protective hood is used, the service robot 1 is in a walking process, when the service robot 1 collides with an object, firstly the protective hood 2 is contacted with the object, the object cannot directly collide with the service robot 1, after the protective hood 2 is impacted, the protective hood 2 moves towards the right side, the protective hood 2 drives the arc-shaped supporting plate 7 to rotate towards one side close to the service robot 1 by the center of the pin shaft, the arc-shaped supporting plate 7 drives the pull block 8 to rotate towards one side far away from the fixed column 10 by taking the pin shaft as the center, the pull block 8 pulls the elastic pull rope 9, the rotating speed of the arc-shaped supporting plate 7 is reduced by the pulling force of the elastic pull rope 9, the effect of reducing the moving speed of the protective hood 2 can be achieved, so that the protective hood 2 has an anti-collision protection effect, when the protective hood 2 needs stable buffering, the protective hood 2 drives the buffer rod 3 to move towards the right side and is matched with the mounting block 4, the buffer rod 3 and the protective cover 2 can stably slide to the right side in a horizontal state, during the period, the buffer rod 3 drives the buffer elastic rope 5 to stretch to the right side, the effect of reducing the moving speed of the buffer rod 3 is achieved through the pulling force of the buffer elastic rope 5, meanwhile, the effect of good buffer performance of the protective cover 2 is achieved, when the force required by the rotation of the arc-shaped supporting plate 7 needs to be adjusted, when the arc-shaped supporting plate 7 is easily rotated, the speed of the protective cover 2 which is moved by the impact is faster, the effect of the protective cover 2 which has the anti-impact protection is poorer, when the arc-shaped supporting plate 7 is not easily rotated, the screw 13 is rotated, the movable plate 12 is driven by the screw 13 to move to one side close to the fixed column 10, the movable plate 12 compresses the stable elastic plate 11, the elastic force generated by the stable elastic plate 11 pushes the pull block 8 to be difficult to be overturned, and the pull block 8 is difficult to be overturned, arc backup pad 7 just is difficult to by the upset, and at this moment, the striking dynamics that can bear of arc backup pad 7 increases to the advantage that has possessed collision avoidance.
In summary, the following steps: this service robot is with crashproof structure and application method, through service robot 1, protection casing 2, buffer beam 3, installation piece 4, buffering elastic rope 5, box 6, arc backup pad 7, draw piece 8, elasticity stay cord 9, fixed column 10, stabilize elastic plate 11, fly leaf 12 and screw rod 13's cooperation use, solved service robot striking back many times, its surface is knocked and is reduced, the image can reduce, can damage the components and parts on service robot surface simultaneously, the problem of service robot security has been reduced.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a service robot is with crashproof structure, includes service robot (1), its characterized in that: the left side of the service robot (1) is provided with a protective cover (2), four corners on the left side of the inner wall of the protective cover (2) are fixedly connected with buffer rods (3), the surface of each buffer rod (3) is sleeved with a mounting block (4), a buffer elastic rope (5) is arranged inside each buffer rod (3), the top and the bottom of each buffer elastic rope (5) are fixedly connected to the right side of the corresponding mounting block (4), the left side of the service robot (1) is fixedly connected with a box body (6), the top and the bottom of the inner cavity of the box body (6) are hinged to an arc-shaped supporting plate (7) through pin shafts, one side, far away from the box body (6), of each arc-shaped supporting plate (7) extends to the outer side of the box body (6), the surface of each arc-shaped supporting plate (7) is fixedly connected with a pull block (8), each pull block (8) is arranged inside the box body (6), an elastic pull rope (9) is arranged inside each pull block (8), the left side of the inner wall of the box body (6) is fixedly connected with a fixed column (10), one side, close to the fixed column (10), one side of each pull rope (9) is arranged inside the fixed column (10), and one side of each elastic plate (11) is connected with a stable gasket (11), one side of the movable plate (12) far away from the fixed column (10) is movably connected with a screw rod (13), one side of the screw rod (13) far away from the fixed column (10) penetrates through the outer side of the box body (6), and the surface of the mounting block (4) is fixedly connected to the surface of the service robot (1).
2. The collision avoidance structure for a service robot according to claim 1, wherein: one side that box (6) were kept away from in arc backup pad (7) articulates through the round pin axle has pulley (14), perpendicular groove (15) have been seted up in the left side of protection casing (2) inner wall, pulley (14) are located the inside of erecting groove (15).
3. The collision avoidance structure for a service robot according to claim 1, characterized in that: the left side fixedly connected with reinforcement piece (16) on buffer beam (3) surface, the left side fixed connection of reinforcement piece (16) is in the left side of protection casing (2) inner wall.
4. The collision avoidance structure for a service robot according to claim 1, wherein: the right side of the arc-shaped supporting plate (7) is fixedly connected with a V-shaped elastic sheet (17), and the right side of the V-shaped elastic sheet (17) is fixedly connected to the left side of the service robot (1).
5. The collision avoidance structure for a service robot according to claim 1, characterized in that: the improved structure is characterized in that a torsion block (18) is fixedly connected to one side, away from the fixed column (10), of the screw (13), a stabilizing plate (19) is sleeved on the surface of the screw (13), four corners, close to one side of the fixed column (10), of the stabilizing plate (19) are fixedly connected with stabilizing rods (20), one side, close to the movable plate (12), of the stabilizing rods (20) penetrates through the inside of the box body (6) and is fixedly connected to the surface of the movable plate (12).
6. The collision avoidance structure for a service robot according to claim 1, characterized in that: the surface of buffer lever (3) is fixedly connected with stopper (21), the surface contact of stopper (21) and installation piece (4).
7. The collision avoidance structure for a service robot according to claim 1, characterized in that: the left side fixedly connected with circular arc piece (22) of buffer beam (3) inner wall, the surface contact of the surface of circular arc piece (22) and buffering stretch cord (5).
8. The use method of the anti-collision structure for the service robot as claimed in claim 1, wherein: the method comprises the following steps:
s1: in the walking process of the service robot (1), when the service robot (1) collides with an object, firstly, the protective cover (2) is contacted with the object, the object cannot directly collide with the service robot (1), after the protective cover (2) is collided, the protective cover (2) moves towards the right side, the protective cover (2) drives the arc-shaped supporting plate (7) to rotate towards one side close to the service robot (1) by using the pin shaft center, the arc-shaped supporting plate (7) drives the pull block (8) to rotate towards one side far away from the fixed column (10) by using the pin shaft as the center, the pull block (8) stretches the elastic pull rope (9), the rotating speed of the arc-shaped supporting plate (7) is reduced by using the pulling force of the elastic pull rope (9), the rotating speed of the arc-shaped supporting plate (7) is reduced, the effect of reducing the moving speed of the protective cover (2) can be achieved, so that the protective cover (2) has the anti-collision protection effect, and when the protective cover (2) needs to be stably buffered, S2 is executed;
s2: the protective cover (2) drives the buffer rod (3) to move to the right side, through the matching of the mounting block (4), the buffer rod (3) and the protective cover (2) can stably slide to the right side in a horizontal state, in the period, the buffer rod (3) drives the buffer elastic rope (5) to stretch to the right side, through the tensile force of the buffer elastic rope (5), the effect of slowing down the moving speed of the buffer rod (3) is achieved, meanwhile, the protective cover (2) has good buffering performance, and S3 is executed when the force required by the rotation of the arc-shaped supporting plate (7) needs to be adjusted;
s3: when arc backup pad (7) is rotated easily, the protection casing (2) is just faster by the speed that the striking removed, protection casing (2) have played anti striking protection effect just worse, when making arc backup pad (7) can not rotated easily, rotatory screw rod (13), screw rod (13) drive fly leaf (12) to the one side removal that is close to fixed column (10), fly leaf (12) compression stabilizes elastic plate (11), the elasticity promotion pull block (8) that stable elastic plate (11) produced are difficult to be overturned, pull block (8) are difficult to be overturned the back, arc backup pad (7) just are difficult to be overturned, at this moment, the sustainable striking dynamics of arc backup pad (7) increases.
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| CN115519560A (en) | 2022-12-27 |
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