CN205184815U - Intelligent mobile robot with anticollision function - Google Patents
Intelligent mobile robot with anticollision function Download PDFInfo
- Publication number
- CN205184815U CN205184815U CN201520959589.8U CN201520959589U CN205184815U CN 205184815 U CN205184815 U CN 205184815U CN 201520959589 U CN201520959589 U CN 201520959589U CN 205184815 U CN205184815 U CN 205184815U
- Authority
- CN
- China
- Prior art keywords
- guidance axis
- intelligent mobile
- robot
- mobile robot
- robot body
- 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.)
- Active
Links
Abstract
The utility model provides an intelligent mobile robot with anticollision function, its anticollision mechanism are located the robot's front side, and it includes crashproof backplate, two guidance axiss and the elastomeric element who sets up with the guidance axis one -to -one, the anticollision backplate transversely sets up, and thereafter about the side both ends articulate respectively in the front end of two guidance axiss, insert the rear end slidable of guidance axis and establish inside the robot, and the rear end tip has and prevents that the guidance axis breaks away from the robot's spacing portion, the elastomeric element cover is established on its corresponding guidance axis and is had the pretightning force, the inside limit switch that is equipped with of the robot, limit switch is connected with intelligent mobile robot's the control unit electricity. The utility model discloses simple structure, the anticollision function is reliable, and is applicable to any load conditions's intelligent mobile robot homoenergetic.
Description
Technical field
The utility model belongs to intelligent mobile robot field, and especially a kind of structure of intelligent mobile robot Anti-collision mechanism is improved.
Background technology
In intelligent mobile robot applied environment, there is the potential safety hazard of various ways, comprise fixed obstacle, moving obstacle, Field Force, other mobile devices etc., in intelligent mobile robot motion process, need to arrange safety device, enable to run into barrier when intelligent mobile robot moves to stop voluntarily, and require reflection rapidly effectively.
Existing intelligent mobile robot, its Anti-collision mechanism is the crashproof tactile limit arranging quality of rubber materials on robot body, and this crashproof tactile limit buffer distance is less, for the intelligent mobile robot anticollision weak effect of heavier loads.
Summary of the invention
The utility model provides a kind of intelligent mobile robot with anti-collision, and anti-collision is reliable, and the intelligent mobile robot for any loading condition all can be suitable for.
For reaching the object solved the problems of the technologies described above, the utility model is achieved by the following technical solutions: a kind of intelligent mobile robot with anti-collision, comprise robot body and be arranged on the Anti-collision mechanism on robot body, described Anti-collision mechanism is positioned at the front side of robot body, it elastomeric element comprising crashproof backplate, about two guidance axis be arranged in parallel between crashproof backplate and robot body and arrange with guidance axis one_to_one corresponding; Described crashproof backplate horizontally set, and its two ends, trailing flank left and right are articulated with the front end of two described guidance axis respectively, the rear end of described guidance axis is plugged in described robot body inside slidably, and end, rear end has the limiting section preventing described guidance axis from departing from described robot body, the described guidance axis that described elastomeric element is set in its correspondence has pretightning force; Described robot body inside is provided with and is positioned on each described guidance axis axial direction and the limit switch be positioned on rear side of described guidance axis, and described limit switch is electrically connected with the control unit of intelligent mobile robot.
In the technical solution of the utility model, also comprise following additional technical feature:
The two ends, trailing flank left and right of described crashproof backplate are all installed with hinge seat, by described hinge seat and described guidance axis front end hinged; Hinge seat on one of them end is provided with chute, and the front end being positioned at the described guidance axis on same one end with this hinge seat can be articulated with described hinge seat slidingly.
The circular arc flange of extended oriented described robot body place rollover folding on the two ends, left and right of described crashproof backplate.
Described robot body plugs position slidably for described guidance axis rear end bearing is installed.
Described elastomeric element is spring or alloy material.
Compared with prior art, the utility model has the following advantages and good effect:
1, when the utility model encounters barrier by crashproof backplate, barrier forces crashproof backplate and guidance axis to move to robot body side, make guidance axis rear end stretch into robot body inside further touch limit switch and trigger limit switch, and then make mobile robot control unit send stopping signal to robot, reach the object making intelligent mobile robot stop motion; When crashproof backplate and guidance axis move to robot body inside, elastomeric element is compressed, then, after barrier removes, extended by the elastomeric element compressed, and make crashproof backplate and guidance axis recover initial position, limit switch is opened, and intelligent mobile robot continues mobile; Then the utility model anti-collision is reliable, and the intelligent mobile robot for any loading condition all can be suitable for.
2, the utility model structure is simple, easy for installation, and holistic cost is low.
Accompanying drawing explanation
Fig. 1 is the intelligent mobile robot perspective view that the utility model has shock-absorbing function;
Fig. 2 is the top view that the utility model has the Anti-collision mechanism place of the intelligent mobile robot of shock-absorbing function;
Fig. 3 is the A portion schematic enlarged-scale view of Fig. 2;
Fig. 4 be in the utility model embodiment when obstacle distance crashproof backplate right-hand member is nearer anticollision principle assumption diagram.
Detailed description of the invention
For making the object of the utility model embodiment, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the utility model embodiment, technical scheme in the utility model embodiment is clearly and completely described, obviously, described embodiment is the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
Fig. 1 is the intelligent mobile robot perspective view that the utility model has shock-absorbing function, Fig. 2 is the top view that the utility model has the Anti-collision mechanism place of the intelligent mobile robot of shock-absorbing function, the structure only relating to damping on front side of intelligent mobile robot body due to the utility model is improved, then only give the top view at intelligent mobile robot Anti-collision mechanism place in Fig. 2, the same prior art of other structures of robot, does not repeat them here; In addition, involved in the present embodiment noun of locality "front", "rear", "left", "right" define according to the normal travel operation state of intelligent mobile robot.
A kind of intelligent mobile robot with anti-collision of the present embodiment, the Anti-collision mechanism 20 comprising robot body 10 and be arranged on robot body 10, Anti-collision mechanism 20 is positioned at the front side of robot body 10, it elastomeric element 24,25 comprising crashproof backplate 21, about two guidance axis be arranged in parallel 22,23 between crashproof backplate 21 and robot body 10 and arrange with guidance axis 22,23 one_to_one corresponding.Wherein, crashproof backplate 21 is the long strip-board shape of a horizontally set, the metal material that preferred intensity is higher or alloy material integral production, the two ends, left and right of its trailing flank (i.e. this face of Machine oriented human body 10) are articulated with two guidance axis 22 respectively, the front end of 23, guidance axis 22, 23 is smooth major axis, it is inner that its rear end is plugged in robot body 10 slidably, and two guidance axis 22, the end, rear end of 23 has and prevents guidance axis 22, the limiting section 221 of 23 disengaging robot bodies 10, 231, elastomeric element 24, 25 guidance axis 22 being set in its correspondence, on 23 there is pretightning force, i.e. elastomeric element 24, 25 are in compressive state, its front end is resisted against on crashproof backplate 21, rear end is resisted against on robot body 10, robot body 10 inside is provided with and is positioned on each guidance axis 22,23 axial direction, and is positioned at the limit switch 26,27 on rear side of each guidance axis 22,23, and limit switch 26,27 is electrically connected with the control unit of intelligent mobile robot.
For ease of describing, left guidance axis 23 is called by what be positioned at left end in about two guidance axis be arranged in parallel 22,23, what be positioned at right-hand member is called right guidance axis 22, correspondingly, the elastomeric element be set on left guidance axis 23 is called left elastomeric element 25, the elastomeric element be set on right guidance axis 22 is called right elastomeric element 24, and the limit switch be positioned on rear side of left guidance axis 23 is called left limit switch 27, and the limit switch be positioned on rear side of right guidance axis 22 is called right limit switch 26.
The anticollision principle of the present embodiment intelligent mobile robot is: when robot move to barrier encounter crashproof backplate time, barrier forces crashproof backplate and left guidance axis, right guidance axis moves to robot body side, make guidance axis rear end extend into robot body inside further touch limit switch and trigger limit switch, and then make mobile robot control unit send stopping signal to robot, reach the object making intelligent mobile robot stop motion; When crashproof backplate and guidance axis move to robot body inside, elastomeric element is compressed, then, after barrier removes, extended by the elastomeric element compressed, and make crashproof backplate and guidance axis recover initial position, limit switch is opened, and intelligent mobile robot continues mobile.
Further, hinged employing in the present embodiment between crashproof backplate 21 and left guidance axis 23, right guidance axis 22 all sets firmly hinge seat on the two ends, trailing flank left and right of crashproof backplate 21, namely the left hinge seat 211 shown in Fig. 2 and right hinge seat 212, hinged with corresponding guidance axis front end by two hinge seats; Because barrier is not necessarily just to the centre of crashproof backplate 21, certain one end of the crashproof backplate of its potential range 21 is nearer, now, cause when to oppress crashproof backplate 21 from one end for preventing barrier one end guidance axis not Duan or crashproof backplate 21 not disconnected, hinge seat preferably on one of them end is provided with chute, and the front end being positioned at the guidance axis on same one end with this hinge seat can be articulated with hinge seat slidingly.Shown in Fig. 2 and Fig. 3 is that the left hinge seat 211 corresponding with left guidance axis 23 is provided with chute 2111, and the front end of left guidance axis 23, while being articulated with left hinge seat 211, also can be connected on left hinge seat 211 slidingly.So, when the left end of the crashproof backplate of obstacle distance 21 is nearer, it oppresses the left end of crashproof backplate 21, as shown in Figure 4, the left end of crashproof backplate 21 and left guidance axis 23 are moved to robot body 10 direction, the relatively left hinge seat 211 of left guidance axis 23 slides, to the left in order to avoid Duan left guidance axis 23 simultaneously.
Because the kind of barrier is more, such as fixed obstacle, moving obstacle, Field Force, other mobile devices etc., if the end of crashproof backplate 21 is more sharp-pointed, can damage or the phenomenon of impairment disorders thing, for avoiding this problem, the circular arc flange 213 of all extended oriented robot body 10 place rollover folding on the two ends, left and right of crashproof backplate 21, to make its end round and smooth.
For reducing friction when guidance axis 22,23 slides, preferably on robot body 10, plugging position (namely plugging in hole) slidably for guidance axis 22,23 rear end and bearing is installed.
Above embodiment only in order to the technical solution of the utility model to be described, but not is limited; Although be described in detail the utility model with reference to previous embodiment, for the person of ordinary skill of the art, still the technical scheme described in previous embodiment can be modified, or equivalent replacement has been carried out to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of the utility model technical scheme required for protection.
Claims (5)
1. one kind has the intelligent mobile robot of anti-collision, comprise robot body and be arranged on the Anti-collision mechanism on robot body, it is characterized in that: described Anti-collision mechanism is positioned at the front side of robot body, it elastomeric element comprising crashproof backplate, about two guidance axis be arranged in parallel between crashproof backplate and robot body and arrange with guidance axis one_to_one corresponding; Described crashproof backplate horizontally set, and its two ends, trailing flank left and right are articulated with the front end of two described guidance axis respectively, the rear end of described guidance axis is plugged in described robot body inside slidably, and end, rear end has the limiting section preventing described guidance axis from departing from described robot body, the described guidance axis that described elastomeric element is set in its correspondence has pretightning force; Described robot body inside is provided with and is positioned on each described guidance axis axial direction and the limit switch be positioned on rear side of described guidance axis, and described limit switch is electrically connected with the control unit of intelligent mobile robot.
2. the intelligent mobile robot with anti-collision according to claim 1, is characterized in that: the two ends, trailing flank left and right of described crashproof backplate are all installed with hinge seat, by described hinge seat and described guidance axis front end hinged; Hinge seat on one of them end is provided with chute, and the front end being positioned at the described guidance axis on same one end with this hinge seat can be articulated with described hinge seat slidingly.
3. the intelligent mobile robot with anti-collision according to claim 2, is characterized in that: the circular arc flange of extended oriented described robot body place rollover folding on the two ends, left and right of described crashproof backplate.
4. the intelligent mobile robot with anti-collision according to claim 1, is characterized in that: described robot body plugs position slidably for described guidance axis rear end and is provided with bearing.
5. the intelligent mobile robot with anti-collision according to claim 1, is characterized in that: described elastomeric element is spring, and described crashproof backplate is metal material or alloy material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520959589.8U CN205184815U (en) | 2015-11-27 | 2015-11-27 | Intelligent mobile robot with anticollision function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520959589.8U CN205184815U (en) | 2015-11-27 | 2015-11-27 | Intelligent mobile robot with anticollision function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205184815U true CN205184815U (en) | 2016-04-27 |
Family
ID=55777845
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520959589.8U Active CN205184815U (en) | 2015-11-27 | 2015-11-27 | Intelligent mobile robot with anticollision function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205184815U (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106695884A (en) * | 2016-12-30 | 2017-05-24 | 温州市图盛科技有限公司 | Anti-collision system of inspection robot of substation |
| CN107309909A (en) * | 2017-08-27 | 2017-11-03 | 刘哲 | A kind of Anti-knocking robot |
| CN107322645A (en) * | 2017-08-27 | 2017-11-07 | 刘哲 | A kind of robot protection device with Anti-knocking function |
| CN107442974A (en) * | 2017-06-20 | 2017-12-08 | 成都环龙智能机器人有限公司 | A kind of combined welding robot anticollision device, collision-prevention device and its manufacture method |
| CN107598972A (en) * | 2017-10-24 | 2018-01-19 | 孙立民 | A kind of industrial robot anticollision gripping apparatus |
| CN107671889A (en) * | 2017-09-30 | 2018-02-09 | 深圳市越疆科技有限公司 | Anti-collision mechanism and omni-directional mobile robots |
| CN108000476A (en) * | 2017-11-30 | 2018-05-08 | 陈益敏 | A kind of split type robot |
| CN108081316A (en) * | 2018-02-05 | 2018-05-29 | 吴淑贤 | The device that a kind of machine people's air defense is just being hit and hit partially |
| CN108453760A (en) * | 2018-06-18 | 2018-08-28 | 中鸿纳米纤维技术丹阳有限公司 | Safeguard structure before a kind of fire-fighting, rescue robot |
| CN109606025A (en) * | 2019-01-15 | 2019-04-12 | 深圳市重器科技有限公司 | A kind of robot chassis |
| CN110948503A (en) * | 2019-12-23 | 2020-04-03 | 南京图灵信息技术有限公司 | Robot for warehouse operation with automatic avoiding function |
-
2015
- 2015-11-27 CN CN201520959589.8U patent/CN205184815U/en active Active
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695884A (en) * | 2016-12-30 | 2017-05-24 | 温州市图盛科技有限公司 | Anti-collision system of inspection robot of substation |
| 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 |
| CN107442974B (en) * | 2017-06-20 | 2019-02-05 | 成都环龙汽车设备有限公司 | A kind of combined welding robot anticollision device, collision-prevention device and its manufacturing method |
| CN107442974A (en) * | 2017-06-20 | 2017-12-08 | 成都环龙智能机器人有限公司 | A kind of combined welding robot anticollision device, collision-prevention device and its manufacture method |
| CN107309909A (en) * | 2017-08-27 | 2017-11-03 | 刘哲 | A kind of Anti-knocking robot |
| CN107322645A (en) * | 2017-08-27 | 2017-11-07 | 刘哲 | A kind of robot protection device with Anti-knocking function |
| CN107671889A (en) * | 2017-09-30 | 2018-02-09 | 深圳市越疆科技有限公司 | Anti-collision mechanism and omni-directional mobile robots |
| CN107671889B (en) * | 2017-09-30 | 2020-09-08 | 深圳市越疆科技有限公司 | Anticollision mechanism and omnidirectional mobile robot |
| CN107598972A (en) * | 2017-10-24 | 2018-01-19 | 孙立民 | A kind of industrial robot anticollision gripping apparatus |
| CN107598972B (en) * | 2017-10-24 | 2020-07-31 | 温岭市华航电子科技有限公司 | Industrial robot anticollision gripping apparatus device |
| CN108000476A (en) * | 2017-11-30 | 2018-05-08 | 陈益敏 | A kind of split type robot |
| CN108081316A (en) * | 2018-02-05 | 2018-05-29 | 吴淑贤 | The device that a kind of machine people's air defense is just being hit and hit partially |
| CN108081316B (en) * | 2018-02-05 | 2018-10-09 | 郑贝贝 | A kind of device that machine people's air defense is just being hit and hit partially |
| CN108453760A (en) * | 2018-06-18 | 2018-08-28 | 中鸿纳米纤维技术丹阳有限公司 | Safeguard structure before a kind of fire-fighting, rescue robot |
| CN109606025A (en) * | 2019-01-15 | 2019-04-12 | 深圳市重器科技有限公司 | A kind of robot chassis |
| CN109606025B (en) * | 2019-01-15 | 2022-07-19 | 深圳史河机器人科技有限公司 | Robot chassis |
| CN110948503A (en) * | 2019-12-23 | 2020-04-03 | 南京图灵信息技术有限公司 | Robot for warehouse operation with automatic avoiding function |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205184815U (en) | Intelligent mobile robot with anticollision function | |
| CN104787309B (en) | Rotor wing unmanned aerial vehicle undercarriage | |
| CN105196938B (en) | Multi link anticollision mechanism and smart motion body | |
| CN103225463A (en) | Anti-pinch glass window of automobile door | |
| CN204423153U (en) | The safety device of AGV Intelligent transport car | |
| CN104083016A (en) | Pause-free unfolding device and mechanical stretching device of movable sofa | |
| CN105082184A (en) | Safety protection device for industrial robot | |
| CN204567277U (en) | A kind of installation component of vehicle CNG gas cylinder | |
| CN102173311B (en) | Approaching sensing and controlling device of boarding bridge pickup port | |
| CN204998468U (en) | Many connecting rods anticollision institution and intelligence motion body | |
| CN205686109U (en) | Novel toy dolly | |
| CN204340999U (en) | A kind of brake pedal with anti-intrusion function | |
| CN109018297A (en) | A kind of automatic deploying and retracting unmanned plane horn folded piece | |
| CN204715969U (en) | The special miniatured hinge of a kind of freezer door | |
| CN103700536A (en) | Spring energy storage mechanism for disconnecting switch | |
| CN204885005U (en) | Vacuum circuit breaker's blend switch | |
| CN204327589U (en) | The structure of fixing spring | |
| CN204510078U (en) | Road gate mechanism | |
| CN205542546U (en) | A balancing unit for telescopic isolator | |
| CN203659723U (en) | Spring energy storage mechanism of disconnecting switch | |
| CN203239351U (en) | Bearing type rotary table for bottom ripping machine | |
| CN205197896U (en) | Window cleaning robot | |
| CN203285215U (en) | Stainless steel overturn damping type hinge | |
| CN203212178U (en) | Safety auxiliary device for elevator door | |
| CN103632875A (en) | Pull switch |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 215100 building 3, Tianlong science and Technology Park, No. 1, Zhufeng Road, Mudu Town, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: Suzhou Haitong Robot System Co.,Ltd. Address before: 266101 B3, 10 / F, block B, International Innovation Park, No. 1, Keyuan Weiyi Road, Laoshan District, Qingdao, Shandong Province Patentee before: QINGDAO HTAGV ROBOT SYSTEMS CO.,LTD. |