CN205158133U - Anticollision institution of qxcomm technology and intelligent movement platform - Google Patents
Anticollision institution of qxcomm technology and intelligent movement platform Download PDFInfo
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- CN205158133U CN205158133U CN201520949799.9U CN201520949799U CN205158133U CN 205158133 U CN205158133 U CN 205158133U CN 201520949799 U CN201520949799 U CN 201520949799U CN 205158133 U CN205158133 U CN 205158133U
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- cushion bumper
- bumper parts
- guide pole
- chute
- omnidirectional
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Abstract
The utility model discloses an anticollision institution of qxcomm technology and intelligent movement platform, the anticollision institution of qxcomm technology includes the crashproof part of a plurality of bufferings, base and connecting rod, it includes crash bar, guide bar, buffer spring and guide block to cushion crashproof part, the guide block is fixed in on the base, the crash bar is fixed to guide bar one end, and the other end passes guide block middle part spout to can move along guide bar axial and perpendicular guide arm direction in the spout, buffer spring cup joints on the guide bar, and the crash bar is replaced to one end, and the guide block is replaced to the other end, the guide bar of the crashproof part of all bufferings is connected jointly on the connecting rod, constitutes an inflexible link mechanism through the connecting rod. The utility model has the advantages of simple structure, when the object collided anticollision institution with different angles, no matter anticollision institution's buffer unit absorbed energy collided the emergence and takes place the removal of adaptation collision at which angle, link mechanism, has reduced the rigid collision of object with the intelligent movement platform.
Description
Technical field
The utility model relates to a kind of anticollision mechanism, especially relates to a kind of omnidirectional anticollision mechanism and intelligent family moving platform.
Background technology
Barrier can be run in paleocinetic intelligent family moving platform process, general solution is on intelligent family moving platform, install and use multiple touch sensor, from multiple angular distribution in the higher part of vehicle body collision probability, because when the high and sensor location rareness of sensor price, area between two adjacent sensors may become collision blind area, effectively cannot identify the situation of collision, so prior art to have cost high, easy generation can not identify the shortcoming of collision, when various range sensor all lost efficacy, movable body itself will collision obstacle, as stopped not in time, the damage of car body itself and barrier may be caused, therefore the purpose of this utility model is to reduce costs and improves collision recognition degree.
Summary of the invention
The purpose of this utility model is for the deficiencies in the prior art, provides a kind of omnidirectional anticollision mechanism and intelligent family moving platform.
The purpose of this utility model is achieved through the following technical solutions: a kind of omnidirectional anticollision mechanism, comprises some cushion bumper parts, pedestal and connecting link; Described cushion bumper parts comprise crash bar, guide pole, buffer spring and orienting lug; Described orienting lug is fixed on pedestal; Crash bar is fixed in described guide pole one end, and the other end through chute in the middle part of orienting lug, and can move along guide pole axis and vertical guide stem direction in chute; On the guide bar, crash bar is supported in one end, and the other end supports orienting lug in described buffer spring socket; The guide pole of all cushion bumper parts is connected on connecting link jointly, consists of the linkage assembly of a rigidity connecting link.
Further, described some cushion bumper parts at least comprise one be installed on front cushion bumper parts on front side of pedestal, one be installed on left cushion bumper parts on the left of pedestal and the right cushion bumper parts be installed on the right side of pedestal; The front guide pole of front cushion bumper parts is vertically fixed on connecting link, and the left guide pole of left cushion bumper parts, the right guide pole of right cushion bumper parts are fixed on connecting link two ends.
Further, be arranged in a section of chute at guide pole and be socketed with spacing sliding block; Spacing sliding block is divided into limiting section and sliding part; Limiting section is positioned at outside chute, and its height H 3 is greater than chute height H 1 or width L3 is greater than trough width L1; Sliding position in chute, and adapts with chute shape, and middle part is the hollow structure adapting to guide pole shape, and the length D of hollow structure is no more than the thickness T1 of chute; Collision bar is supported in buffer spring one end, and the other end supports limiting section.
Further, described spacing sliding block is linear bearing.
Further, the front guide pole afterbody end height H 2 of described front cushion bumper parts is greater than chute height H 1, between front guide pole afterbody end and front orienting lug, be socketed with a spacing collar, dock with the sliding part of spacing sliding block, the diameter H4 of described spacing collar is greater than the height H 1 of chute.
Further, when mechanism only comprises front cushion bumper parts, front cushion bumper parts are fixed in the middle of connecting link; When mechanism comprises two front cushion bumper parts, two front cushion bumper parts share a crash bar.
Further, the rear end of described cushion bumper parts is provided with touch sensor and collision trigger unit, and when the guide pole of cushion bumper parts moves backward, collision trigger unit triggers touch sensor, and touch sensor 4 sends collision alarm.
A kind of intelligent family moving platform, comprise mobile platform body, omnidirectional's anticollision mechanism and control device, described omnidirectional anticollision mechanism is installed on the position that mobile platform body peripheral may collide; The rear end of described cushion bumper parts is provided with touch sensor; Described touch sensor is connected with control device signal; Touching signal is converted to electric signal and sends control device to by touch sensor, and described control device is used for receiving and processing electric signal, controls intelligent family moving platform and stops Power output, stops in time.
Further, described omnidirectional anticollision mechanism is arranged in the working direction of mobile platform body.
The beneficial effects of the utility model are: structure of the present utility model is simple, when object is with different angles collision anticollision mechanism, the buffer unit of anticollision mechanism absorbs energy, no matter which angle collision occurs in, there is the movement adapting to collision in linkage assembly, decreases the hard collision of object and intelligent family moving platform; Usual intelligent family moving platform cost is higher, anticollision mechanism avoids intelligent family moving platform because colliding the loss caused, and installs touch sensor, adds the susceptibility of anticollision mechanism to collision, by the control of touch sensor, further increase the susceptibility of intelligent family moving platform to collision.
Accompanying drawing explanation
The simplified diagram of Tu1Shi omnidirectional anticollision mechanism;
Fig. 2 is the structural drawing of embodiment one;
Fig. 3 is the part drawing of cushion bumper parts;
Fig. 4 is the structural drawing of embodiment two;
In figure, cushion bumper parts 1, pedestal 2, connecting link 3, crash bar 11, guide pole 12, buffer spring 13, orienting lug 14, front cushion bumper parts 1a, left cushion bumper parts 1b, right cushion bumper parts 1c, front collision bar 11a, left collision bar 11b, right collision bar 11c, front guide pole 12a, left guide pole 12b, right guide pole 12c, front buffer spring 13a, left buffer spring 13b, right buffer spring 13c, front orienting lug 14a, left orienting lug 14b, right orienting lug 14c, front limit sliding block 15a, left limit sliding block 15b, right limit sliding block 15c, spacing collar 16a, spacing sliding block 15, limiting section 151, sliding part 152, cushion bumper parts 1d before first, cushion bumper parts 1e before second, left cushion bumper parts 1f, right cushion bumper parts 1g, touch sensor 4.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
As shown in Figure 1, the utility model is the omnidirectional's anticollision mechanism for smart motion body, comprise some cushion bumper parts 1, pedestal 2 and connecting link 3, described cushion bumper parts 1 comprise crash bar 11, guide pole 12, buffer spring 13 and orienting lug 14, described orienting lug 14 is fixed on pedestal 2, for support guide bar 12, guide pole 12 opposite base 2 is kept certain height, described guide pole 12 one end is fixed on crash bar 11, the other end is through chute in the middle part of orienting lug 14, and can move along guide pole 12 axis and vertical guide stem direction in chute, described buffer spring 13 is socketed on guide pole 12, crash bar 11 is supported in one end, the other end supports orienting lug 14.
For realizing the collision prevention function of omnidirectional, as Fig. 1, cushion bumper parts 1 distribute radially according to the direction that may collide, radiation scope only towards can collide to exterior domain, region internal when not comprising installation, therefore cushion bumper parts of the present utility model are at least 3, as Fig. 2 embodiment one, comprise 3 cushion bumper parts, Fig. 4 embodiment two, comprise 4 cushion bumper parts.
In embodiment one, the installation position of 3 cushion bumper parts 1 is on front side of pedestal respectively, on the left of pedestal and on the right side of pedestal, here front cushion bumper parts 1a is referred to as, left cushion bumper parts 1b and right cushion bumper parts 1c, front cushion bumper parts 1a, 3 guide pole 12a of left cushion bumper parts 1b and right cushion bumper parts 1c, 12b, 12c is connected on connecting link 3 jointly, by connecting link 3 by front guide pole 12a, left guide pole 12b, right guide pole 12c forms the linkage assembly of a rigidity, in order in radial uniformly, front guide pole 12b is fixed on connecting link medium position, left guide pole 12b, right guide pole 12c is fixed on connecting link 3 two ends, for keeping the sliding that guide pole is good in chute, reduce guide pole 12a, 12b, friction between 12c and chute, and buffer spring 13a, 13b, 13c and orienting lug 14a, 14b, the friction of 14c, at guide pole 12a, 12b, 12c is arranged in a section of chute and is socketed with spacing sliding block 15a, 15b, 15c, as Fig. 3, spacing sliding block 15 is divided into limiting section 151 and sliding part 152, limiting section 151 is positioned at outside chute, its height H 3 is greater than chute height H 1 or width L3 is greater than trough width L1 size, the sliding part 152 of spacing sliding block 15 is arranged in chute, and adapt with chute shape, middle part is for adapting to the hollow structure of guide pole 12 shape, general orientation bar 12 is cylindric, hollow structure is cylinder, the length D of cylinder must not exceed the thickness T1 of chute, can slide with vertical guide stem direction vertically in chute, realize the motion of guide pole in chute, buffer spring 13a, 13b, 13c supports collision bar 11a in one end, 11b, 11c, the other end supports spacing sliding block 15a, 15b, the limiting section 151 of 15c, limiting section 151 gives spring anchorage force supported, the general linear bearing of described spacing sliding block 15 replaces, the front guide pole 12a afterbody end height H 2 of described front cushion bumper parts 1a need be greater than chute height H 1, the mobile range of guide pole is limited between maximum compressible amount and original state, namely before, cushion bumper parts 1a is defined within the specific limits, the nonvoluntary movement when not colliding, therefore, rigidly connected left cushion bumper parts 1b and right cushion bumper parts 1c is not also moved with it, during concrete enforcement, a spacing collar 16a is socketed with between front guide pole 12a afterbody end and front orienting lug 14a, dock with the sliding part of spacing sliding block 15a, when not colliding generation, can better by spacing for guide pole motionless between crash bar and orienting lug, and reduce the friction of guide pole afterbody end and orienting lug, the diameter H4 of described spacing collar 16a is greater than the height H 1 of chute.
The course of work:
Diverse location collides, impact force transmits with position from different perspectives, and when front portion is touched, impact force acts on front cushion bumper parts 1a, front collision bar is moved backward, before promoting, guide pole 12a axially moves backward, and front buffer spring 13a compresses, and absorbs energy, simultaneously, because left cushion bumper parts 1b, right cushion bumper parts 1c are rigidly attached on same connecting link 3, when current guide pole 12a axially moves backward, left guide pole 12b, right guide pole 12c offset simultaneously backward; When left side or right side collide, then impact force acts on left cushion bumper parts 1b or right cushion bumper parts 1c from left side or right side respectively, promote left guide pole 12b or right guide pole 12c axially to move backward, left buffer spring 13b or right buffer spring 13c compresses, absorb energy, meanwhile, because front cushion bumper parts 1a is rigidly attached on same connecting link 3; When left guide pole 12b or right guide pole 12c axially moves backward, front guide pole 12a offsets to the right or left; When sideways collisions, when such as colliding between front cushion bumper parts 1a and left cushion bumper parts 1b, front collision bar 11a and left collision bar 11b is collided power simultaneously, before impact force promotes, guide pole 12a and left guide pole 12b axially moves backward, the motion of linkage assembly defines the drift angle that adapts to collision angle, front buffer spring 13a or left buffer spring 13b compresses, and absorbs energy.Therefore, the utility model has buffer action, decrease install the object of this anticollision mechanism and obstacle hard collision.
Cushion bumper parts can be greater than 3, when 4 cushion bumper parts are installed as shown in Figure 4, cushion bumper parts 1d before comprising first, cushion bumper parts 1e before second, left cushion bumper parts 1f and right cushion bumper parts 1g, cushion bumper parts 1d before first, before second, cushion bumper parts 1e is installed on pedestal front portion and keeps at a certain distance away, left cushion bumper parts 1f and right cushion bumper parts 1g is installed on the pedestal left and right sides respectively, in the radial distribution adapting to susceptor edges shape, cushion bumper parts 1d before first, before second, cushion bumper parts 1e forms an and shared crash bar identical with the front cushion bumper parts 1a in embodiment one, left cushion bumper parts 1f forms identical with right cushion bumper parts 2b with the left cushion bumper parts 2a in embodiment one respectively with right cushion bumper parts 1g, all guide poles are rigidly connected on same connecting link 3, such structure makes buffering effect during sideways collisions better.
In the utility model, as shown in Figure 4, the rear end of described cushion bumper parts is provided with touch sensor 4 and collision trigger unit, when the guide pole of cushion bumper parts moves backward, collision trigger unit triggers touch sensor 4, touch sensor 4 sends signal, for 4 cushion bumper parts, the collision trigger unit of left and right cushion bumper parts is positioned at guide rods rear, the touch sensor 4 of right crashproof parts is installed at left guide pole rear, the touch sensor 4 of left cushion bumper parts is installed at right guide pole rear, when left and right sides collides, collision trigger unit makes trigger sensor 4 produce collision alarm, after anterior cushion bumper parts are installed on guide pole, in the present embodiment, collision trigger unit is the guide pole afterbody of left and right cushion bumper parts, when colliding, when the guide pole of anterior cushion bumper parts moves backward, promote connecting rod to move backward, when left and right sides guide pole moves at any time backward, the height of guide pole afterbody just in time triggers touch sensor 4, send collision alarm.
The utility model also provides a kind of intelligent family moving platform with omnidirectional's anticollision mechanism, described intelligent family moving platform comprises mobile platform body, with omnidirectional as above anticollision mechanism, and control device, described omnidirectional anticollision mechanism is installed on the position that mobile platform body peripheral may collide, especially can be arranged in the working direction of mobile platform body, described touch sensor 4 is connected with control device signal, touching signal can be converted to electric signal by touch sensor 4, send control device to, described control device is used for receiving and processing electric signal, control intelligent family moving platform and stop Power output, timely parking, avoid further damage.After removing collision status, buffer spring makes mechanism back original state.
Claims (9)
1. omnidirectional's anticollision mechanism, is characterized in that, comprises some cushion bumper parts, pedestal and connecting link; Described cushion bumper parts comprise crash bar, guide pole, buffer spring and orienting lug; Described orienting lug is fixed on pedestal; Crash bar is fixed in described guide pole one end, and the other end through chute in the middle part of orienting lug, and can move along guide pole axis and vertical guide stem direction in chute; On the guide bar, crash bar is supported in one end, and the other end supports orienting lug in described buffer spring socket; The guide pole of all cushion bumper parts is connected on connecting link jointly, consists of the linkage assembly of a rigidity connecting link.
2. a kind of omnidirectional according to claim 1 anticollision mechanism, it is characterized in that, described some cushion bumper parts at least comprise one be installed on front cushion bumper parts on front side of pedestal, one be installed on left cushion bumper parts on the left of pedestal and the right cushion bumper parts be installed on the right side of pedestal; The front guide pole of front cushion bumper parts is vertically fixed on connecting link, and the left guide pole of left cushion bumper parts, the right guide pole of right cushion bumper parts are fixed on connecting link two ends.
3. a kind of omnidirectional according to claim 2 anticollision mechanism, is characterized in that, is arranged in a section of chute is socketed with spacing sliding block at guide pole; Spacing sliding block is divided into limiting section and sliding part; Limiting section is positioned at outside chute, and its height H 3 is greater than chute height H 1 or width L3 is greater than trough width L1; Sliding position in chute, and adapts with chute shape, and middle part is the hollow structure adapting to guide pole shape, and the length D of hollow structure is no more than the thickness T1 of chute; Collision bar is supported in buffer spring one end, and the other end supports limiting section.
4. a kind of omnidirectional according to claim 3 anticollision mechanism, is characterized in that, described spacing sliding block is linear bearing.
5. a kind of omnidirectional according to claim 3 anticollision mechanism, it is characterized in that, the front guide pole afterbody end height H 2 of described front cushion bumper parts is greater than chute height H 1, a spacing collar is socketed with between front guide pole afterbody end and front orienting lug, dock with the sliding part of spacing sliding block, the diameter H4 of described spacing collar is greater than the height H 1 of chute.
6. a kind of omnidirectional according to claim 2 anticollision mechanism, is characterized in that, when mechanism only comprises front cushion bumper parts, front cushion bumper parts are fixed in the middle of connecting link; When mechanism comprises two front cushion bumper parts, two front cushion bumper parts share a crash bar.
7. a kind of omnidirectional anticollision mechanism according to any one of claim 1-6, is characterized in that, the rear end of described cushion bumper parts is provided with touch sensor and collision trigger unit.
8. an intelligent family moving platform, it is characterized in that, described intelligent family moving platform comprises mobile platform body, omnidirectional's anticollision mechanism as claimed in claim 1 and control device, and described omnidirectional anticollision mechanism is installed on the position that mobile platform body peripheral may collide; The rear end of described cushion bumper parts is provided with touch sensor; Described touch sensor is connected with control device signal.
9. a kind of intelligent family moving platform according to claim 8, it is characterized in that, described omnidirectional anticollision mechanism is arranged in the working direction of mobile platform body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520949799.9U CN205158133U (en) | 2015-11-25 | 2015-11-25 | Anticollision institution of qxcomm technology and intelligent movement platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520949799.9U CN205158133U (en) | 2015-11-25 | 2015-11-25 | Anticollision institution of qxcomm technology and intelligent movement platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205158133U true CN205158133U (en) | 2016-04-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520949799.9U Withdrawn - After Issue CN205158133U (en) | 2015-11-25 | 2015-11-25 | Anticollision institution of qxcomm technology and intelligent movement platform |
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| Country | Link |
|---|---|
| CN (1) | CN205158133U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105334857A (en) * | 2015-11-25 | 2016-02-17 | 杭州南江机器人股份有限公司 | All-directional anti-collision mechanism and intelligent mobile platform |
| CN112238686A (en) * | 2019-07-19 | 2021-01-19 | 苏州滨川精密工业有限公司 | High-efficient printing apparatus is used to keyboard backup pad |
| CN112238688A (en) * | 2019-07-19 | 2021-01-19 | 苏州滨川精密工业有限公司 | High-precision UV printing device for keyboard supporting plate |
-
2015
- 2015-11-25 CN CN201520949799.9U patent/CN205158133U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105334857A (en) * | 2015-11-25 | 2016-02-17 | 杭州南江机器人股份有限公司 | All-directional anti-collision mechanism and intelligent mobile platform |
| CN112238686A (en) * | 2019-07-19 | 2021-01-19 | 苏州滨川精密工业有限公司 | High-efficient printing apparatus is used to keyboard backup pad |
| CN112238688A (en) * | 2019-07-19 | 2021-01-19 | 苏州滨川精密工业有限公司 | High-precision UV printing device for keyboard supporting plate |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160413 Effective date of abandoning: 20181102 |
|
| AV01 | Patent right actively abandoned |