CN205572469U - Anti -collision control system of robot - Google Patents
Anti -collision control system of robot Download PDFInfo
- Publication number
- CN205572469U CN205572469U CN201620371007.9U CN201620371007U CN205572469U CN 205572469 U CN205572469 U CN 205572469U CN 201620371007 U CN201620371007 U CN 201620371007U CN 205572469 U CN205572469 U CN 205572469U
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- China
- Prior art keywords
- robot
- collision
- control system
- alarm device
- stop control
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Abstract
The utility model discloses an anti -collision control system of robot can protect the robot in the striking, can prevent that the robot is seriously impaired when clashing into outside object in the robot simultaneously. Include: the drive arrangement of setting in the robot, do drive arrangement provides battery, walking actuating mechanism, anti -collision beam, emergency stop control device, alarm device and the master control set of power, the annular list structure of anti -collision beam for using the hinge to constitute a plurality of some interconnect, the anticollision crossbeam is established on the robot surface, the emergency stop control device is established the inside of anticollision crossbeam, master control set with drive arrangement, emergency stop control device, alarm device link to each other, master control set includes: machine people stop signal is received to signal reception and transmission module piece to send the log -on message extremely alarm device.
Description
Technical field
This utility model belongs to robot field, is specifically related to a kind of robot anti-collision control system.
Background technology
Robot is during walking, although have alignment system to control its walking path, but sometimes
Wait due to systematic error or control in the problems such as malfunctioning, or travel path place object put position
Putting and change temporarily, robot likely touches the object of surrounding, causes robot certain
Damage.
Utility model content
The purpose of this utility model is to provide a kind of device people's anti-collision control system, it is possible to protect in shock
Protect robot, be prevented from robot when robot strikes exterior object simultaneously and be badly damaged.
In order to achieve the above object, concrete technical scheme of the present utility model is as follows:
A kind of robot anti-collision control system, including: the driving means that is arranged in robot, for institute
State driving means provide the accumulator of power, walking actuator, crashproof girder steel, anxious fixed-position stop control apparatus,
Alarm device and master control set；
Described crashproof girder steel is the annular list structure using hinge some to be interconnected to constitute,
Described anti-collision beam is located at robotic surface, and described anxious fixed-position stop control apparatus is located at the interior of described anti-collision beam
Side；
Described master control set is connected with described driving means, anxious fixed-position stop control apparatus, alarm device, described
Master control set includes: signal receives and delivery module, receives robot and stops signal, and sends startup
Information is to described alarm device.
The robot anti-collision control system that this utility model provides, by arranging anti-collision steel in robot
Beam, the strip beam structure that this crashproof girder steel is all become by the interconnective some of hinge, anti-
The inside hitting girder steel is provided with anxious fixed-position stop control apparatus, and in the process of walking, crashproof girder steel impinges upon in robot
Time on exterior object, can internally cave in hinge position, now, female parts is clashed into jerk and is controlled
Device, robot stops walking, and starts alarm device, and monitoring personnel timely receive alarm signal,
Process in time.Robot can be protected well by this device, strike in robot simultaneously
It is prevented from it during exterior object to be badly damaged.
Further, described driving means is servomotor.
Further, described walking actuator includes head and for driving two row of robot ambulation
Driving wheel, said two road wheel is located at the bottom of robot, and described head is located at the top of robot,
Described head and two road wheels are all connected with robot body by rotating shaft.
Further, described anxious fixed-position stop control apparatus is normally opened travel switch, described normally opened travel switch
Fixing end is located at robotic surface, and its movable contact is towards the inwall of described crashproof girder steel.
Further, described alarm device is alarm lamp or emergency alarm bell, is located at the head of robot.
Accompanying drawing explanation
A kind of robot anti-collision control system structure chart that Fig. 1 provides for this utility model；
1. robot, 2. head, 3. road wheel, 4. driving means, 5. accumulator, the most crashproof girder steel, 6-1.
Hinge, 7. anxious fixed-position stop control apparatus, 8. alarm device, 9. master control set, 9-1. data receiver and delivery module.
Detailed description of the invention
Below in conjunction with the accompanying drawings embodiment of the present utility model is illustrated.
As it is shown in figure 1, a kind of robot anti-collision control system, including: be arranged in robot drives
Dynamic device, provide for described driving means the accumulator of power, walking actuator, crashproof girder steel,
Anxious fixed-position stop control apparatus, alarm device and master control set；
Described crashproof girder steel is the annular list structure using hinge some to be interconnected to constitute,
Described anti-collision beam is located at robotic surface, and described anxious fixed-position stop control apparatus is located at the interior of described anti-collision beam
Portion；
Described master control set and described driving means, walking actuator, anxious fixed-position stop control apparatus, warning
Device is connected, and described master control set includes:
Signal receives and delivery module, receives robot and stops signal, and sends startup information to described
Alarm device.
The robot anti-collision control system that this utility model provides, by arranging anti-collision steel in robot
Beam, the strip beam structure that this crashproof girder steel is all become by the interconnective some of hinge, anti-
The inside hitting girder steel is provided with anxious fixed-position stop control apparatus, and in the process of walking, crashproof girder steel impinges upon in robot
Time on exterior object, can internally cave in hinge position, now, female parts is clashed into jerk and is controlled
Device, robot stops walking, and starts alarm device, and monitoring personnel timely receive alarm signal,
Process in time.Robot can be protected well by this device, strike in robot simultaneously
It is prevented from it during exterior object to be badly damaged.
Driving means therein is preferably servomotor.Servomotor can make control speed, positional precision
Very accurate, voltage signal can be converted into torque and rotating speed to drive control object.Servomotor
Rotor speed is by input signal control, and energy fast reaction, in automatic control system, is used as to perform
Element, and there is the characteristics such as electromechanical time constant is little, the linearity is high, pickup voltage, can be being received
The angular displacement that is converted on motor reel of the signal of telecommunication or angular velocity output.
Walking actuator includes head and for driving two road wheels of robot ambulation, said two
Road wheel is located at the bottom of robot, and described head is located at the top of robot, described head and two
Road wheel is all connected with robot body by rotating shaft.
Preferably anxious fixed-position stop control apparatus is normally opened travel switch, and the fixing end of normally opened travel switch is located at machine
People surface, its movable contact is towards the inwall of described crashproof girder steel.When crashproof girder steel clashes into exterior object
After, crashproof girder steel caves inward in hinge position, and touching forms the movable contact of switch, normally opened stroke
Switch cuts out, and robot stops walking.
Preferably alarm device is alarm lamp or emergency alarm bell, is located at the head of robot.Robot stops
After walking, master control set starts alarm device, is positioned at alarm lamp or the emergency alarm bell of robot head
Starting, monitoring personnel can recognize the present situation of robot in time, carries out timely situation process.
Above, although illustrate several embodiment of the present utility model, but these embodiments are simply
Propose as an example, be not intended to limit scope of the present utility model.For the embodiment that these are new,
Can implement in other various modes, in the range of without departing from main idea of the present utility model, it is possible to
Carry out various omission, displacement and change.These embodiments and its deformation, be contained in this utility model
Scope or spirit in while, be also contained in the utility model described in claims and impartial model thereof
In enclosing.
Claims (5)
1. a robot anti-collision control system, it is characterised in that including: the driving means being arranged in robot, the accumulator that power is provided for described driving means, actuator of walking, crashproof girder steel, anxious fixed-position stop control apparatus, alarm device and master control set；
Described crashproof girder steel is the annular list structure using hinge some to be interconnected to constitute, and described crashproof girder steel is located at robotic surface, and described anxious fixed-position stop control apparatus is located at the inner side of described anti-collision beam；
Described master control set is connected with described driving means, anxious fixed-position stop control apparatus, alarm device, described master control set is provided with signal receive and delivery module, described signal receives and delivery module receives robot and stops signal, and sends startup information to described alarm device.
Robot the most according to claim 1 anti-collision control system, it is characterised in that described driving means is servomotor.
Robot the most according to claim 1 anti-collision control system, it is characterized in that, described walking actuator includes head and for driving two road wheels of robot ambulation, said two road wheel is located at the bottom of robot, described head is located at the top of robot, described head and two road wheels and is all connected with robot body by rotating shaft.
Robot the most according to claim 1 anti-collision control system, it is characterised in that described anxious fixed-position stop control apparatus is normally opened travel switch, the fixing end of described normally opened travel switch is located at robotic surface, and its movable contact is towards the inwall of described crashproof girder steel.
Robot the most according to claim 1 anti-collision control system, it is characterised in that described alarm device is alarm lamp or emergency alarm bell, is located at the head of robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620371007.9U CN205572469U (en) | 2016-04-27 | 2016-04-27 | Anti -collision control system of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620371007.9U CN205572469U (en) | 2016-04-27 | 2016-04-27 | Anti -collision control system of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205572469U true CN205572469U (en) | 2016-09-14 |
Family
ID=56857811
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620371007.9U Expired - Fee Related CN205572469U (en) | 2016-04-27 | 2016-04-27 | Anti -collision control system of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205572469U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965548A (en) * | 2016-06-13 | 2016-09-28 | 国家电网公司 | Robot anti-collision control system |
| CN106313053A (en) * | 2016-10-21 | 2017-01-11 | 北京七星华创电子股份有限公司 | Wafer transfer manipulator with anticollision function and anticollision method thereof |
| CN109822598A (en) * | 2017-11-23 | 2019-05-31 | 智棋科技股份有限公司 | Robot system and the method for controlling robot |
-
2016
- 2016-04-27 CN CN201620371007.9U patent/CN205572469U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965548A (en) * | 2016-06-13 | 2016-09-28 | 国家电网公司 | Robot anti-collision control system |
| CN106313053A (en) * | 2016-10-21 | 2017-01-11 | 北京七星华创电子股份有限公司 | Wafer transfer manipulator with anticollision function and anticollision method thereof |
| CN106313053B (en) * | 2016-10-21 | 2018-12-18 | 北京北方华创微电子装备有限公司 | A kind of biography piece manipulator and its avoiding collision with collision prevention function |
| CN109822598A (en) * | 2017-11-23 | 2019-05-31 | 智棋科技股份有限公司 | Robot system and the method for controlling robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160914 Termination date: 20180427 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |