CN210526456U - Anticollision mechanism, remove chassis and robot - Google Patents
Anticollision mechanism, remove chassis and robot Download PDFInfo
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- CN210526456U CN210526456U CN201920615276.9U CN201920615276U CN210526456U CN 210526456 U CN210526456 U CN 210526456U CN 201920615276 U CN201920615276 U CN 201920615276U CN 210526456 U CN210526456 U CN 210526456U
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Abstract
The application discloses anticollision institution, removal chassis and robot. The anti-collision mechanism comprises a first mounting block, an elastic hinge, an anti-collision beam, a second mounting block and a touch switch for establishing communication connection with a parking device of the mobile chassis; first installation piece and second installation piece are installed on removing the chassis, elasticity hinge mount is on first installation piece, the one end of anticollision roof beam is connected on elasticity hinge, touch switch's fixing is on the second installation piece, touch switch's switch trigger end extends to the anticollision roof beam, and be equipped with first clearance between touch switch's switch trigger end and the anticollision roof beam, the lateral wall of anticollision roof beam extends and removes the chassis, so that when the anticollision roof beam receives external force to influence the switch trigger end of touching touch switch, touch switch sends parking signal to parking equipment. The method and the device solve the technical problem that the mobile chassis cannot identify the obstacles in the blind area in the related technology.
Description
Technical Field
The application relates to the technical field of machinery, in particular to an anti-collision mechanism, a movable chassis and a robot.
Background
The moving chassis of the existing circular robot basically uses laser radar, ultrasound, infrared and other electronic devices to identify obstacles on obstacle avoidance, and then avoids the obstacles through a software algorithm, so that the electronic devices inevitably generate identified blind areas when identifying the obstacles, and if the obstacles are generated in the blind areas, the moving chassis of the robot cannot identify the obstacles during movement, and the problem that the body of the moving chassis collides the obstacles is generated.
Aiming at the problem that the mobile chassis cannot identify the obstacles in the blind area in the related technology, an effective solution is not provided at present.
SUMMERY OF THE UTILITY MODEL
The application mainly aims to provide an anti-collision mechanism, a mobile chassis and a robot, so that the problem that the mobile chassis cannot identify obstacles in a blind area in the related art is solved.
To achieve the above object, in a first aspect, the present application provides a mobile chassis.
The mobile chassis according to the present application comprises: the anti-collision device comprises a first mounting block, an elastic hinge, an anti-collision beam, a second mounting block and a touch switch for establishing communication connection with a parking device of the mobile chassis;
first installation piece and second installation piece are installed on removing the chassis, elasticity hinge mount is on first installation piece, the one end of anticollision roof beam is connected on elasticity hinge, touch switch's fixing is on the second installation piece, touch switch's switch trigger end extends to the anticollision roof beam, and be equipped with first clearance between touch switch's switch trigger end and the anticollision roof beam, the lateral wall of anticollision roof beam extends and removes the chassis, so that when the anticollision roof beam receives external force to influence the switch trigger end of touching touch switch, touch switch sends parking signal to parking equipment.
Optionally, the collision avoidance mechanism further comprises a first link and a second link;
the first end of the first connecting rod is hinged to the anti-collision beam, the second end of the first connecting rod is hinged to the first end of the second connecting rod, the second end of the second connecting rod is hinged to the second mounting block, and an included angle exists between the first connecting rod and the second connecting rod.
Optionally, the anti-collision mechanism further comprises a first rotating shaft, a second rotating shaft and a third rotating shaft, a first end of the first connecting rod is hinged to the anti-collision beam through the first rotating shaft, a second end of the first connecting rod is hinged to a first end of the second connecting rod through the second rotating shaft, and a second end of the second connecting rod is hinged to the second mounting block through the third rotating shaft;
the first rotating shaft, the second rotating shaft and the third rotating shaft are all vertically arranged.
Optionally, the anti-collision mechanism further comprises a limit pin;
a mounting hole is formed in one side, close to the anti-collision beam, of the second mounting block, a first end of the limiting pin is connected into the mounting hole, and a second gap is formed between a second end of the limiting pin and the anti-collision beam;
the switch trigger end of the touch switch is equivalent to the second end of the limit pin, which is close to the anti-collision beam.
Optionally, the first end of the limit pin is in interference fit with the mounting hole.
Optionally, the profile of the side walls of the impact beam is the same as the profile of the aligned position of the moving chassis.
Optionally, the side wall of the impact beam is shaped as a circular arc.
Optionally, the elastic hinge is a spring butterfly hinge and the touch switch is a pogo pin trigger switch.
In a second aspect, the application further provides a mobile chassis including the above-mentioned collision avoidance mechanism.
In a third aspect, the present application further provides a robot including the moving chassis described above.
In an embodiment of the present application, there is provided a mobile chassis, including: the anti-collision device comprises a first mounting block, an elastic hinge, an anti-collision beam, a second mounting block and a touch switch for establishing communication connection with a parking device of the mobile chassis; first installation piece and second installation piece are installed on removing the chassis, elasticity hinge mount is on first installation piece, the one end of anticollision roof beam is connected on elasticity hinge, touch switch's fixing is on the second installation piece, touch switch's switch trigger end extends to the anticollision roof beam, and be equipped with first clearance between touch switch's switch trigger end and the anticollision roof beam, the lateral wall of anticollision roof beam extends and removes the chassis, so that when the anticollision roof beam receives external force to influence the switch trigger end of touching touch switch, touch switch sends parking signal to parking equipment. Like this, the removal chassis is under elastic hinge's effect, and the lateral wall of anticollision roof beam extends and removes the chassis, and when the part that the anticollision roof beam is located the removal chassis outside collided the barrier, the anticollision roof beam receives external force to influence and can remove to removing the chassis inboard, when removing the certain distance, the switch trigger end that touch switch can be touched to the anticollision roof beam to make touch switch trigger, send parking signal to parking equipment, avoided removing chassis body collision barrier, cause removal chassis body or barrier loss. Therefore, the problem that the mobile chassis cannot identify the obstacles in the blind area in the related technology is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
fig. 1 is a schematic structural diagram of a mobile chassis provided according to an embodiment of the present application;
fig. 2 is a partially enlarged view of a portion a in fig. 1.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted", "provided", "connected", "slidably connected", "fixed", "clamped" and "nested" are to be understood in a broad sense. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In addition, the term "plurality" shall mean two as well as more than two.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 and 2, an embodiment of the present application relates to a collision avoidance mechanism 200, including: the device comprises a first mounting block 1, an elastic hinge 2, an anti-collision beam 3, a second mounting block 4 and a touch switch 5 for establishing communication connection with a parking device of a mobile chassis 100;
first installation piece 1 and second installation piece 4 are installed on removing chassis 100, elasticity hinge 2 is installed on first installation piece 1, the one end of anticollision roof beam 3 is connected on elasticity hinge 2, touch switch 5 fixes on second installation piece 4, touch switch 5's switch trigger end extends to anticollision roof beam 3, and be equipped with first clearance between touch switch 5's the switch trigger end and the anticollision roof beam 3, the lateral wall of anticollision roof beam 3 extends and removes chassis 100, so that when anticollision roof beam 3 receives external force to influence touch switch trigger end of touch switch 5, touch switch 5 sends parking signal to parking equipment. Wherein, optionally, the elastic hinge 2 may be a spring butterfly hinge; alternatively, the touch switch 5 may be a pogo pin trigger switch.
Specifically, remove chassis 100 under elastic hinge 2's effect, the lateral wall of anticollision roof beam 3 extends and removes chassis 100, when the part that anticollision roof beam 3 is located and removes the chassis 100 outside collides the barrier, anticollision roof beam 3 receives external force to influence and can remove to removing chassis 100 inboard, when removing the certain distance, anticollision roof beam 3 can touch switch 5's switch trigger end, so that touch switch 5 triggers, send parking signal to parking equipment, avoided removing chassis 100 body and removed the collision barrier, cause and remove chassis 100 body or barrier loss.
Optionally, the collision avoidance mechanism 200 further comprises a first link 6 and a second link 7;
the first end of the first connecting rod 6 is hinged to the anti-collision beam 3, the second end of the first connecting rod 6 is hinged to the first end of the second connecting rod 7, the second end of the second connecting rod 7 is hinged to the second mounting block 4, and an included angle exists between the first connecting rod 6 and the second connecting rod 7.
Specifically, through setting up first connecting rod 6 and second connecting rod 7, can further carry out auxiliary stay to anticollision roof beam 3, prevent anticollision roof beam 3 overlength, anticollision roof beam 3 rocks from top to bottom when removing chassis 100 and remove, causes anticollision roof beam 3 to drag ground to and lose elastic hinge 2.
Optionally, the anti-collision mechanism 200 further includes a first rotating shaft 8, a second rotating shaft 9, and a third rotating shaft 10, a first end of the first connecting rod 6 is hinged to the anti-collision beam 3 through the first rotating shaft 8, a second end of the first connecting rod 6 is hinged to a first end of the second connecting rod 7 through the second rotating shaft 9, and a second end of the second connecting rod 7 is hinged to the second mounting block 4 through the third rotating shaft 10;
the first rotating shaft 8, the second rotating shaft 9 and the third rotating shaft 10 are all vertically arranged.
Specifically, adopt above-mentioned structure, can inject anticollision roof beam 3 as far as possible and rotate in the horizontal direction, also make anticollision roof beam 3 can set up along the horizontal direction.
Optionally, the anti-collision mechanism 200 further comprises a limit pin 11;
a mounting hole is formed in one side, close to the anti-collision beam 3, of the second mounting block 4, a first end of the limiting pin 11 is connected into the mounting hole, and a second gap is formed between a second end of the limiting pin 11 and the anti-collision beam 3;
the switch triggering end of the touch switch 5 is equivalent to the second end of the limit pin 11 close to the anti-collision beam 3.
Specifically, the switch trigger end of touch switch 5 is close to crashproof roof beam 3 equivalent to the second end of spacer pin 11, first clearance is less than the second clearance promptly, when crashproof roof beam 3 bumps the barrier, can collide touch switch 5's switch trigger end at first to crashproof roof beam 3 that removes 100 inboard side in the removal chassis, because, remove chassis 100 and park through touch switch 5's trigger, there is certain time delay, for preventing crashproof roof beam 3 extrusion touch switch 5 and surpass touch switch 5's the maximum stroke of touch switch, the touch switch 5 is harmd in the collision, can carry on spacingly to crashproof roof beam 3 to the inside displacement distance of removal chassis 100 through spacer pin 11, thereby guarantee touch switch 5's security.
Optionally, the first end of the limit pin 11 is in interference fit with the mounting hole.
Specifically, because the installation space is less between first installation piece 1 and the anticollision roof beam 3, and can bear higher impact, spacer pin 11 can and the mounting hole between adopt interference fit's mode to install.
Optionally, for better protection of the movable chassis 100 body by the impact beam 3, the shape of the side wall of the impact beam 3 is the same as that of the movable chassis 100 at the alignment position.
Alternatively, the side wall profile of the impact beam 3 may be a circular arc. For example, when the mobile chassis 100 is a circular mobile chassis 100, the shape of the side wall of the impact beam 3 is 1/4 circular arcs, so that the circular mobile chassis 100 can be completely protected by 4 impact mechanisms 200.
Optionally, the trigger switch is secured to the second mounting block 4 by a jackscrew 12.
In the embodiment of the present application, a mobile chassis 100 is provided, which is configured to: the device comprises a first mounting block 1, an elastic hinge 2, an anti-collision beam 3, a second mounting block 4 and a touch switch 5 for establishing communication connection with a parking device of a mobile chassis 100; first installation piece 1 and second installation piece 4 are installed on removing chassis 100, elasticity hinge 2 is installed on first installation piece 1, the one end of anticollision roof beam 3 is connected on elasticity hinge 2, touch switch 5 fixes on second installation piece 4, touch switch 5's switch trigger end extends to anticollision roof beam 3, and be equipped with first clearance between touch switch 5's the switch trigger end and the anticollision roof beam 3, the lateral wall of anticollision roof beam 3 extends and removes chassis 100, so that when anticollision roof beam 3 receives external force to influence touch switch trigger end of touch switch 5, touch switch 5 sends parking signal to parking equipment. Like this, remove chassis 100 under elastic hinge 2's effect, the lateral wall of anticollision roof beam 3 extends and removes chassis 100, when the part that anticollision roof beam 3 is located and removes the chassis 100 outside collides the barrier, anticollision roof beam 3 receives external force to influence and can remove to removing chassis 100 inboard, when removing the certain distance, anticollision roof beam 3 can touch the switch trigger end of touch switch 5, so that touch switch 5 triggers, send parking signal to parking equipment, the body collision barrier of removal chassis 100 has been avoided, cause and remove chassis 100 body or barrier loss. Therefore, the problem that the mobile chassis cannot identify the obstacles in the blind area in the related technology is solved.
Based on the same technical concept, the embodiment of the present application further provides a mobile chassis 100, as shown in fig. 1 and 2, the mobile chassis 100 includes the above-mentioned collision avoidance mechanism 200.
Wherein, the first mounting block 1 and the second mounting block 4 are both mounted on the lower end surface of the bottom plate 101 included in the mobile chassis 100.
In the moving chassis 100 provided in this embodiment, by providing the above-mentioned collision avoidance mechanism 200, when the part of the collision avoidance beam 3 located outside the moving chassis 100 collides with an obstacle, the collision avoidance beam 3 is influenced by an external force and moves towards the inside of the moving chassis 100, and when the collision avoidance beam moves a certain distance, the collision avoidance beam 3 touches the switch trigger end of the touch switch 5, so that the touch switch 5 triggers and sends a parking signal to the parking device, the parking device included in the moving chassis 100 stops moving towards the direction of the obstacle, and further the body of the moving chassis 100 is prevented from colliding with the obstacle, and the body of the moving chassis 100 or the obstacle is prevented from being lost. Therefore, the problem that the mobile chassis cannot identify the obstacles in the blind area in the related technology is solved.
Based on the same technical concept, the embodiment of the present application further provides a robot, including the above-mentioned mobile chassis 100.
In the robot provided by the embodiment of the application, the problem that the moving chassis cannot identify the obstacle in the blind area in the related art can be solved by arranging the moving chassis 100.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A crash avoidance mechanism, comprising: the anti-collision device comprises a first mounting block, an elastic hinge, an anti-collision beam, a second mounting block and a touch switch for establishing communication connection with a parking device of the mobile chassis;
first installation piece with the second installation piece is installed remove on the chassis, elasticity hinge mount is in on the first installation piece, the one end of anticollision roof beam is connected on the elasticity hinge, touch switch's fixing on the second installation piece, touch switch's switch trigger end to the anticollision roof beam extends, just touch switch's switch trigger end with be equipped with first clearance between the anticollision roof beam, the lateral wall of anticollision roof beam extends remove the chassis, so that work as the anticollision roof beam receives the touching of external force influence during touch switch trigger end, touch switch to parking signal is sent to parking equipment.
2. The crash avoidance mechanism of claim 1 further comprising a first link and a second link;
the first end of first connecting rod with the anticollision roof beam is articulated, the second end of first connecting rod with the first end of second connecting rod is articulated, the second end of second connecting rod articulates on the second installation piece, first connecting rod with there is the contained angle between the second connecting rod.
3. The anti-collision mechanism according to claim 2, further comprising a first rotating shaft, a second rotating shaft and a third rotating shaft, wherein a first end of the first connecting rod is hinged to the anti-collision beam through the first rotating shaft, a second end of the first connecting rod is hinged to a first end of the second connecting rod through the second rotating shaft, and a second end of the second connecting rod is hinged to the second mounting block through the third rotating shaft;
the first rotating shaft, the second rotating shaft and the third rotating shaft are all vertically arranged.
4. The anticollision mechanism according to claim 1, characterized in that it further comprises a limit pin;
a mounting hole is formed in one side, close to the anti-collision beam, of the second mounting block, a first end of the limiting pin is connected into the mounting hole, and a second gap is formed between a second end of the limiting pin and the anti-collision beam;
and the switch triggering end of the touch switch is equivalent to the second end of the limiting pin close to the anti-collision beam.
5. The anti-collision mechanism according to claim 4, wherein the first end of the limit pin is in interference fit with the mounting hole.
6. The impact mechanism of claim 1, wherein the side walls of the impact beam have a profile that is the same as the profile of the alignment point of the mobile chassis.
7. The impact mechanism of claim 6, wherein the side walls of the impact beam are rounded.
8. The crash mechanism as recited in claim 1, wherein the resilient hinge is a spring-loaded butterfly hinge and the tactile switch is a pogo pin trigger switch.
9. A mobile chassis, characterized in that it comprises a collision avoidance mechanism according to any of claims 1-8.
10. A robot, characterized in that the robot comprises a moving chassis according to claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920615276.9U CN210526456U (en) | 2019-04-29 | 2019-04-29 | Anticollision mechanism, remove chassis and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920615276.9U CN210526456U (en) | 2019-04-29 | 2019-04-29 | Anticollision mechanism, remove chassis and robot |
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| CN210526456U true CN210526456U (en) | 2020-05-15 |
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| CN201920615276.9U Active CN210526456U (en) | 2019-04-29 | 2019-04-29 | Anticollision mechanism, remove chassis and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103869A (en) * | 2019-04-29 | 2019-08-09 | 北京云迹科技有限公司 | Anticollision mechanism, mobile chassis and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103869A (en) * | 2019-04-29 | 2019-08-09 | 北京云迹科技有限公司 | Anticollision mechanism, mobile chassis and robot |
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Address after: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Patentee after: Beijing Yunji Technology Co.,Ltd. Address before: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Patentee before: BEIJING YUNJI TECHNOLOGY Co.,Ltd. |