CN212601958U

CN212601958U - Anti-collision device for autonomous walking device

Info

Publication number: CN212601958U
Application number: CN202020435304.1U
Authority: CN
Inventors: 管陈明; 何杏兴; 王富林; 丁朝景
Original assignee: Nanjing Panda Electronics Co Ltd; Nanjing Panda Electronics Equipment Co Ltd
Current assignee: Nanjing Panda Electronics Co Ltd; Nanjing Panda Electronics Equipment Co Ltd
Priority date: 2020-03-30
Filing date: 2020-03-30
Publication date: 2021-02-26
Anticipated expiration: 2030-03-30

Abstract

The utility model discloses an anti-collision device for independently running gear, including the main casing body, collision strip, packing ring, spring and travel switch, the main casing body is provided with a plurality of collision strip all around, main internal portion of casing is provided with packing ring and travel switch, the travel switch below is provided with the spring. The utility model relates to a rationally, simple structure, durable, low cost, occupation space is little, and the discernment angle is big, and application range is extensive.

Description

Anti-collision device for autonomous walking device

Technical Field

The utility model belongs to sensor and robot field, in particular to an anti-collision device for independently running gear.

Background

With the development and progress of science and technology, robots are continuously entering the fields of industrial manufacturing and commercial and civil use, wherein a plurality of autonomous moving devices are contained, and a collision sensing mechanism is indispensable in the devices; the common collision sensing mechanism on the market at present is complex in structure, large in occupied space and high in cost, collision sensing is usually performed only aiming at the advancing direction, and the use scene is limited. Therefore, it is necessary to design a collision-proof safety mechanism for an autonomous traveling apparatus, which is simpler, has a low cost, a small space, and a wide recognition range, in view of the current situation.

Disclosure of Invention

The purpose of the invention is as follows: to the defect that the structure that above-mentioned exists is complicated, occupation space is big, the perception scope is little, with high costs, the utility model provides a reduce mechanism cost, the scene is used in the extension, and is safer, simple structure's an anti collision device who is used for independently running gear.

The technical scheme is as follows: the utility model provides an anti-collision device for independently running gear, including the main casing body, collision strip, packing ring, spring and travel switch, the main casing body is provided with a plurality of collision strip all around, main internal portion of casing is provided with packing ring and travel switch, the travel switch below is provided with the spring.

Further, the main casing body comprises spacing groove, draw-in groove and spring mounting groove, the draw-in groove sets up around main casing body bottom, the spacing groove sets up inside main casing lateral wall, be provided with the spring in the spring mounting groove.

Further, the collision strip comprises spacing post, spacing piece and backstop piece, spacing post and backstop piece all set up on collision strip side inner wall, spacing piece sets up in collision strip lateral wall bottom.

Further, the main casing body and the collision strip are used for installing the limiting column in the limiting groove through a screw and a gasket, the gasket is fixed on the limiting column, and the outer side of the gasket is clamped in the limiting groove.

Furthermore, the upper side of the limiting column props against the upper end of the limiting groove, the limiting sheet is inserted into the limiting groove, and the lower side of the limiting sheet props against the bottom of the clamping groove.

Furthermore, one side of the spring is propped against the tail part of the spring installation groove, the other side of the spring is propped against the collision strip stop piece, the axis of the spring points to the circle center of the main shell, the travel switch is installed at the upper end of the spring installation groove, and the contact is contacted with the side wall of the collision strip.

The utility model discloses, including the main casing body, collision strip, packing ring, spring, travel switch. The main shell is circular, the collision strip is provided with a plurality of sections which are circular arc-shaped and are connected with the main shell through screws and gaskets, and a gap is reserved between the limiting column on the collision strip and the limiting groove on the main shell, so that the collision strip and the limiting groove can move relatively in a certain range in the horizontal direction; the gasket is fixed on the limiting column on the collision strip and clamped in the limiting groove of the main shell, so that the collision strip cannot be separated from the main shell; the limiting sheet on the collision strip is inserted into the clamping groove of the main shell, and the upper side of the limiting column props against the upper end of the limiting groove to limit the movement of the limiting column in the height direction; the main shell is provided with a spring and a travel switch, the spring is assembled in an installation groove of the main shell, one side of the spring is propped against the tail part of the spring installation groove, the other side of the spring is propped against a stop piece of the collision strip, the axis of the spring points to the circle center of the main shell, so that the collision strip is positioned at the outermost side of the limit under the normal condition under the pushing force of the outward direction of the circle center, the travel switch is fixed at the upper end of the spring installation groove, and a contact is contacted with; when the collision strip touches an obstacle, the spring is pushed to trigger the travel switch, so that collision activity is sensed; when the barrier is removed, the collision strip can automatically reset under the action of the spring.

Furthermore, the mechanisms are all arranged in the space within the range of 5% of the radius (about 35mm) of the outermost side of the main shell, the structure is compact, and the occupied space is small.

Furthermore, the travel switch is fixed at the upper end of the spring mounting groove, and the spring is pressed through the shell of the travel switch, so that the number of parts is reduced, and the cost is reduced.

Furthermore, in the mechanism, be equipped with the multistage strip of colliding, set up around the main casing body to increase the perception angle scope of colliding.

Furthermore, the mechanism is few in types and number of parts, and the mechanism comprises five main parts, wherein only the main shell and the collision strip are customized parts, the rest parts are general parts or standard parts, the main shell and the collision strip are simple in structure, the collision strip is of a general structure, and the manufacturing cost is low.

The utility model adopts the above technical scheme, following beneficial effect has:

the utility model relates to a rationally, simple structure, durable, low cost, occupation space is little, and the discernment angle is big, and application range is extensive.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the assembly of the present invention;

FIG. 3 is a schematic structural diagram of the main housing of FIG. 1;

FIG. 4 is a schematic view of the crash bar of FIG. 1;

FIG. 5 is a schematic view of the assembled structure of the main housing and the crash bar of FIG. 1;

fig. 6 is a schematic view showing an assembled structure of the spring and the travel switch of fig. 2.

Detailed Description

The present invention will be further explained with reference to specific examples, which are to be understood as illustrative only and not as limiting the scope of the invention, and modifications to the various equivalent forms of the invention, which may occur to those skilled in the art upon reading the present invention, fall within the scope of the appended claims.

In the description of the present invention, it should be noted that the terms "upper", "lower", "top", "bottom", "horizontal direction", "height direction", and the like indicate orientations or positions based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply specific orientations that the indicated positions or elements must have, be constructed in specific orientations, and operations, and thus are not to be construed as limitations of the present invention.

In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "mounted" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood as appropriate by those of ordinary skill in the art.

As shown in fig. 1 and 2, the present invention includes a main housing 1, a collision bar 2, a washer 3, a spring 4, and a travel switch 5.

Specifically, as shown in fig. 3 and 4, the main housing 10 of the present invention is provided with a limiting groove 1-1, a clamping groove 1-2, and a spring mounting groove 1-3, and the collision bar is provided with a limiting post 2-1, a limiting piece 2-2, and a stop piece 2-3.

Specifically, as shown in fig. 5 and 6, the main housing 1 and the collision strip 2 are connected through a gasket 3 and a screw, the screw penetrates through the gasket 3 and is fixed in a limiting column 2-1, the top of the limiting column 2-1 and the top of a limiting groove 1-1 are flush, a gap is left around, and the outer side of the gasket 3 is clamped at the inner side of the limiting groove 1-1; the limiting piece 2-2 is inserted into the clamping groove 1-2, and the bottom of the limiting piece is flush with the bottom of the clamping groove 1-2; the spring 4 is arranged in the spring mounting groove 1-3, one end of the spring is propped against the tail part of the mounting groove 1-3, and the other end of the spring is propped against the stop piece 2-3; the travel switch 5 is installed at the upper end of the spring installation groove 1-3, and the contact is contacted with the side wall of the collision strip.

The utility model discloses the theory of operation: under a normal state, the collision strip 2 is subjected to the thrust of a plurality of springs 4 which is uniform outwards from the circle center, and stays at the outermost limit position under the limit of a limit groove 1-1 on the main shell 1 and a limit column 2-1 on the collision strip; when the collision sensing device touches the obstacle, the obstacle pushes the collision strip 2 to move towards the direction of the circle center of the main shell 1, so that the spring 4 is pushed and the travel switch 5 is triggered to realize collision sensing; when the obstacle is disengaged, the spring 4 pushes the crash bar 2 back to the initial outermost limit position.

Claims

1. The utility model provides an anti-collision device for independently running gear, its characterized in that, includes main casing body (1), collision strip (2), packing ring (3), spring (4) and travel switch (5), main casing body (1) is provided with a plurality of collision strip (2) all around, main casing body (1) is inside to be provided with packing ring (3) and travel switch (5), travel switch (5) below is provided with spring (4).

2. The collision preventing device for the autonomous walking apparatus according to claim 1, wherein the main casing (1) is composed of a limiting groove (1-1), a clamping groove (1-2) and a spring installation groove (1-3), the clamping groove (1-2) is arranged around the bottom of the main casing (1), the limiting groove (1-1) is arranged inside the side wall of the main casing (1), and a spring (4) is arranged in the spring installation groove (1-3).

3. The collision preventing device for the autonomous walking apparatus according to claim 2, wherein the collision bar (2) is composed of a limiting column (2-1), a limiting sheet (2-2) and a stopping sheet (2-3), the limiting column (2-1) and the stopping sheet (2-3) are both disposed on the inner wall of the side surface of the collision bar (2), and the limiting sheet (2-2) is disposed at the bottom of the side wall of the collision bar (2).

4. The collision preventing device for the autonomous walking apparatus according to claim 3, wherein the main housing (1) and the collision strip (2) install the limit post (2-1) in the limit groove (1-1) through a screw and a gasket, the gasket (3) is fixed on the limit post (2-1), and the outer side of the gasket is clamped in the limit groove (1-1).

5. The collision preventing device for the autonomous walking apparatus as claimed in claim 3, wherein the upper side of the position-limiting post (2-1) abuts against the upper end of the position-limiting groove (1-1), the position-limiting piece (2-2) is inserted into the position-limiting groove (1-1), and the lower side of the position-limiting piece (2-2) abuts against the bottom of the slot (1-2).

6. The anti-collision device for the autonomous walking apparatus according to claim 3, characterized in that one side of the spring (4) is against the tail of the spring mounting groove (1-3), the other side is against the stop piece (2-3) of the crash bar (2), the axis of the spring (4) points to the center of the main housing (1), the travel switch (5) is mounted at the upper end of the spring mounting groove (1-3), and the contact point is in contact with the side wall of the crash bar (2).