CN217123183U - Service robot anticollision institution - Google Patents
Service robot anticollision institution Download PDFInfo
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- CN217123183U CN217123183U CN202122319759.4U CN202122319759U CN217123183U CN 217123183 U CN217123183 U CN 217123183U CN 202122319759 U CN202122319759 U CN 202122319759U CN 217123183 U CN217123183 U CN 217123183U
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Abstract
The utility model relates to the technical field of robot, a service robot anticollision mechanism is disclosed, including the chassis fixed plate, anticollision slide, PMKD, anticollision roof and elastic component, when collision appears in the robot of realization service through proximity sensor, control machine stop motion, wherein, anticollision slide and anticollision roof releasable connection or an organic whole are connected, anticollision slide is connected with the chassis fixed plate through fixed cushion upside, the downside is connected with PMKD, can make anticollision slide backward after the anticollision roof receives the collision, right side, three direction removal left, and simultaneously, because the anticollision slide is connected to elastic component one end again, PMKD is connected to the other end, so after the collision terminates, elastic component pulling anticollision slide is to the reverse movement of direction of atress, the anticollision slide drives the anticollision roof and gets back initial position again, realize resetting. Therefore the utility model provides a service robot's mechanical anticollision institution install complicacy, and to the high problem of design structure space requirement.
Description
Technical Field
The utility model belongs to the technical field of the robot, especially, relate to a service robot anticollision institution.
Background
With the development of artificial intelligence and the gradual maturity of unmanned technology, service robots such as welcome, sweeping, delivering food and the like are more and more widely applied. In order to protect people, facilities and robots, an anti-collision mechanism is generally required to avoid possible injuries and damages.
At present, a service robot mainly avoids obstacles through electronics to prevent equipment collision, and usually uses a laser radar and a software algorithm to perform operations such as obstacle avoidance and emergency stop. Although some mechanical anti-collision mechanisms appear in the prior art, the current mechanical anti-collision mechanism can only realize one-way anti-collision, and a plurality of anti-collision mechanisms are required to be installed for the requirements of multiple directions, so that the installation is complex, and the requirement on the design structure space is high.
In view of the above circumstances, how to solve the problems of high requirement for electronic obstacle avoidance environment, poor reliability, complex installation of mechanical collision avoidance mechanisms, and high requirement for design structure space becomes a problem of the technical field.
SUMMERY OF THE UTILITY MODEL
In order to overcome prior art's above-mentioned shortcoming, the utility model provides a service robot anticollision institution to it is higher to solve the electron and keep away the barrier environment requirement, and the reliability is relatively poor, and mechanical anticollision institution installs complicacy, and requires high problem to the design structure space.
In order to achieve the above purpose, the utility model adopts the technical scheme that: the utility model discloses a service robot anticollision institution, include:
the upper side of the chassis fixing plate is used for connecting a vehicle body, and the lower side of the chassis fixing plate is connected with an anti-collision sliding plate;
the anti-collision device comprises an anti-collision sliding plate, a sliding adjusting hole is formed in the anti-collision sliding plate, a fixed cushion block capable of moving in the sliding adjusting hole is arranged in the sliding adjusting hole, and the thickness of the fixed cushion block is larger than that of the anti-collision sliding plate; the upper side of the anti-collision sliding plate is connected with the chassis fixing plate through the fixing cushion block;
the lower side of the anti-collision sliding plate is connected with the fixed bottom plate through the fixed cushion block;
the anti-collision device comprises an anti-collision top plate, wherein a proximity sensor used for detecting a position signal is arranged on the anti-collision top plate, the anti-collision top plate is detachably connected or fixedly and integrally connected with an anti-collision sliding plate, and the anti-collision sliding plate can move backwards, rightwards and leftwards after the anti-collision top plate is collided;
and one end of the elastic piece is connected with the anti-collision sliding plate, and the other end of the elastic piece is connected with the fixed bottom plate.
Furthermore, the anti-collision sliding plate is provided with a sliding plate tension spring connecting hole, the fixed bottom plate is provided with a tension spring connecting hole, one end of the elastic piece is connected with the sliding plate tension spring connecting hole, and the other end of the elastic piece is connected with the tension spring connecting hole.
Further, the elastic part is a tension spring.
Furthermore, the fixing cushion block comprises an upper cushion plate and a lower cushion plate, wherein the upper cushion plate and the lower cushion plate are respectively positioned on two sides of the fixing cushion block.
Furthermore, the anti-collision top plate is detachably connected with the anti-collision sliding plate, the anti-collision sliding plate is further provided with a sliding plate connecting hole, the anti-collision top plate is further provided with a top plate adjusting hole matched with the sliding plate connecting hole, and the position of the sliding plate connecting hole corresponds to that of the top plate adjusting hole.
Further, the sliding plate connecting hole is an oblong hole.
Furthermore, the fixed bottom plate is also provided with a tension spring side connecting hole used for connecting the elastic piece.
Further, the slide plate tension spring connecting hole, the tension spring connecting hole and the tension spring side connecting hole are all arranged holes.
Furthermore, a proximity sensor positioning hole is formed in the chassis fixing plate, a sliding detection hole is formed in the anti-collision top plate, and the proximity sensor is installed on the sliding detection hole through the proximity sensor positioning hole.
Further, the front section of the anti-collision top plate is of a U-shaped structure and is used for contacting the collision at the front sides of the right front, the left front and the right front of the vehicle body.
Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses a service robot anticollision institution, including chassis fixed plate, crashproof slide, PMKD, crashproof roof and elastic component, when the collision appears in the robot that realizes serving through proximity sensor, feed back to the controller, controller control machine stop motion. Wherein crashproof slide and crashproof roof releasable connection or body coupling, both form integrative structure, crashproof slide is connected with chassis fixed plate through fixed cushion upside, the downside is connected with PMKD, because fixed cushion establishes in the slide adjusting hole, and can remove in the slide adjusting hole, consequently can make crashproof slide backward after crashproof roof receives the collision, the right side, three direction removes left, and simultaneously, again because crashproof slide is connected to elastic component one end, PMKD is connected to the other end, so after the collision stops, elastic component pulling crashproof slide is to the reverse movement of atress direction, initial position is got back to again to crashproof slide drive crashproof roof, realize resetting. Therefore, the utility model discloses not only solved service robot's anticollision problem, solved the electron moreover and kept away the obstacle environment requirement higher, the reliability is relatively poor, and mechanical anticollision institution installs complicacy, and requires high problem to design structure space.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is an exploded view of a structure provided by an embodiment of the present invention;
fig. 2 is a side view of a structure provided by an embodiment of the present invention;
fig. 3 is a bottom view of a structure provided by an embodiment of the present invention;
fig. 4 is a schematic view of a chassis fixing plate according to an embodiment of the present invention;
FIG. 5 is a schematic view of an upper cushion plate according to an embodiment of the present invention;
FIG. 6 is a schematic view of an embodiment of the present invention;
FIG. 7 is a schematic view of a fixing pad of the embodiment of the present invention;
FIG. 8 is a schematic view of an embodiment of the present invention;
fig. 9 is a schematic view of an anti-collision top plate in an embodiment of the present invention;
FIG. 10 is a schematic view of the connection between the anti-collision slide plate and the anti-collision top plate in the embodiment of the present invention;
fig. 11 is a schematic view of a fixing base plate according to an embodiment of the present invention.
1-a proximity sensor; 2-chassis fixing plate; 21-a proximity sensor positioning hole and 22-an anti-collision mechanism fixing hole; 3, arranging a base plate; 31-upper backing plate fixing holes; 4-fixing the base plate; 41-inner holes of cushion blocks; 5, anti-collision sliding plates; 51-sliding adjusting hole, 52-sliding plate connecting hole and 53-sliding plate tension spring connecting hole; 6-anti-collision top plate; 61-sliding detection hole, 62-top plate adjusting hole; 7-lower backing plate; 71-lower bolster anchor holes; 8-fixing the bottom plate; 81-bottom plate fixing hole and 82-tension spring connecting hole; 83-connecting hole on tension spring side; 9-tension spring.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Interpretation of related terms:
the service robot: the robot is a semi-autonomous or fully-autonomous working robot which can complete service work beneficial to human health, but does not comprise equipment for production;
a proximity sensor: replace contact detection methods such as limit switch to need not the contact detection object and detect the general name of the sensor of purpose, the removal information that can detect the object and existence information conversion are electric signal, the corresponding switch signal of output, the utility model discloses a west gram IME12-04BNSZW2K inductance type proximity sensor.
Referring to fig. 1-11, the service robot anti-collision mechanism comprises a chassis fixing plate 2, wherein the upper side of the chassis fixing plate 2 is used for connecting a vehicle body, and the lower side of the chassis fixing plate 2 is connected with an anti-collision sliding plate 5;
the anti-collision sliding plate 5 is provided with a sliding adjusting hole 51, a fixed cushion block 4 capable of moving in the sliding adjusting hole 51 is arranged in the sliding adjusting hole 51, and the thickness of the fixed cushion block 4 is larger than that of the anti-collision sliding plate 5, so that the fixed cushion block 4 can extend out of the sliding adjusting hole 51 from top to bottom; the upper side of the anti-collision sliding plate 5 is connected with the chassis fixing plate 2 through a fixing cushion block 4;
the lower side of the anti-collision sliding plate 5 is connected with a fixed bottom plate 8 through a fixed cushion block 4;
the anti-collision top plate 6 is provided with a proximity sensor 1 for detecting a position signal, the anti-collision top plate 6 is detachably connected or fixedly and integrally connected with the anti-collision sliding plate 5, and the anti-collision sliding plate 5 can move in the three directions of backward, right and left after the anti-collision top plate 6 is collided;
one end of the elastic piece is connected with the anti-collision sliding plate 5, and the other end of the elastic piece is connected with the fixed bottom plate 8.
When the robot is used, the vehicle body is connected with the chassis fixing plate 2, and when the service robot collides through the proximity sensor 1, the collision is fed back to the controller, and the controller controls the robot to stop moving so as to prevent further collision; the anti-collision sliding plate 5 and the anti-collision top plate 6 are detachably connected or integrally connected, and an integrated structure is ensured to be formed between the anti-collision sliding plate 5 and the chassis fixing plate 2, the lower side of the anti-collision sliding plate is connected with the fixing bottom plate 8, because the fixing cushion block 4 is arranged in the sliding adjusting hole 51 and can move in the sliding adjusting hole 51, the anti-collision sliding plate 5 can move backwards, rightwards and leftwards after the anti-collision top plate 6 is collided, and the anti-collision function of the machine is effectively realized, meanwhile, because one end of the elastic piece is connected with the anti-collision sliding plate 5, and the other end of the elastic piece is connected with the fixing bottom plate 8, after the collision is ended, the elastic piece pulls the anti-collision sliding plate 5 to move backwards in the stress direction, the anti-collision sliding plate 5 drives the anti-collision top plate 6 to return to the initial position again, and the resetting is realized; wherein, the sliding adjusting hole 51 is preferably a fan-shaped hole, which is convenient for the crashproof sliding plate 5 to drive the crashproof top plate 6 to return to the initial position.
In connection with the above embodiment, as shown in fig. 8 and 11, a slider tension spring connection hole 53 is formed on the anti-collision slider 5, a tension spring connection hole 82 is formed on the fixed base plate 8, one end of the elastic member is connected to the slider tension spring connection hole 53, and the other end of the elastic member is connected to the tension spring connection hole 82.
Connect above-mentioned embodiment, more specifically, the elastic component is extension spring 9, and slide extension spring connecting hole 53 is connected to extension spring 9 one end, and extension spring connecting hole 82 is connected to the other end, and crashproof roof 6 receives the collision back, can take crashproof slide 5 to move to compression extension spring 9, therefore extension spring 9 produces elasticity, and after the collision termination, extension spring 9 passes through the elastic force effect, will promote crashproof slide 5 to the reverse movement of direction of force, thereby makes crashproof slide 5 drive crashproof roof 6 and return to initial position again, realizes reseing.
More specifically, as shown in fig. 1, 2 and 3, the present invention further includes an upper pad 3 and a lower pad 7, the upper pad 3 and the lower pad 7 are respectively located at two sides of the fixing pad 4, and the fixing pad 4 is sandwiched by the upper pad 3 and the lower pad 7, so that the fixing pad 4 is more firmly connected to the chassis fixing plate 2 and the fixing base plate 8.
In connection with the above embodiment, more specifically, as shown in fig. 8 to fig. 10, when the anti-collision top plate 6 is detachably connected to the anti-collision sliding plate 5, the anti-collision sliding plate 5 is further provided with a sliding plate connecting hole 52, the anti-collision top plate 6 is further provided with a top plate adjusting hole 62 matched with the sliding plate connecting hole 52, wherein the positions of the sliding plate connecting hole 52 and the top plate adjusting hole 62 correspond to each other, and a bolt passes through the sliding plate connecting hole 52 and the top plate adjusting hole 62 to connect the anti-collision sliding plate 5 and the anti-collision top plate 6.
In connection with the above embodiment, it is more preferable that the slide plate connection hole 52 is an oblong hole, so that the height of the anti-collision slide plate 5 relative to the anti-collision top plate 6 can be adjusted, the gap between the anti-collision mechanism and the service robot housing can be adjusted, and the appearance attractiveness is improved.
In connection with the above embodiment, more specifically, as shown in fig. 11, the fixing base plate 8 is further provided with a tension spring side connection hole 83 for connecting the tension spring 9, one end of the tension spring 9 is connected to the slide plate tension spring connection hole 53, and the other end is connected to the tension spring connection hole 82 or the tension spring side connection hole 83 as required, and this example is connected to the tension spring side connection hole 83, so that the tension spring 9 is installed.
In connection with the above embodiment, it is more preferable that the slider tension spring connection hole 53, the tension spring connection hole 82, and the tension spring side connection hole 83 are all arranged holes, and the force of the tension spring 9 is adjusted as necessary.
According to the above embodiment, a more specific scheme is that, as shown in fig. 1 to 11, an upper padding plate fixing hole 31 is formed in an upper padding plate 3, a lower padding plate fixing hole 71 is formed in a lower padding plate 7, a bottom plate fixing hole 81 is formed in a fixing bottom plate 8, a crash mechanism fixing hole 22 is formed in a chassis fixing plate 2, a pad inner hole 41 is formed in a fixing pad 4, and the upper padding plate 3, the fixing padding plate 4, a crash slide 5, a crash top plate 6, the lower padding plate 7 and the fixing bottom plate 8 are fixed to the chassis fixing plate 2 by bolts sequentially passing through the crash mechanism fixing hole 22, the upper padding plate fixing hole 31, the pad inner hole 41, the lower padding plate fixing hole 71 and the bottom plate fixing hole 81; simultaneously, because upper padding plate 3, fixed backing plate 4, lower bolster 7, PMKD 8 is connected fixedly integratively with chassis fixed plate 2, crashproof slide 5 and crashproof roof 6 are connected fixedly together, and fixed cushion 4 can remove in the slip regulation hole 51 of skidproof slide 5, so the whole relative slip of the whole that crashproof slide 5 and crashproof roof 6 constitute for upper padding plate 3, fixed backing plate 4, lower bolster 7, PMKD 8 and chassis fixed plate 2 constitute.
In connection with the above embodiment, a more specific scheme is that the chassis fixing plate 2 is provided with a proximity sensor positioning hole 21, the diameter of the proximity sensor positioning hole 21 is larger than the outer diameter of the lower end of the proximity sensor 1, the anti-collision top plate 6 is provided with a sliding detection hole 61, and the proximity sensor 1 is installed on the sliding detection hole 61 through the proximity sensor positioning hole 21.
According to the embodiment, the front section of the anti-collision top plate 6 is of a U-shaped structure and is used for contacting three sides of the right front side, the left front side and the right front side of the vehicle body, so that the anti-collision sliding plate 5 can be driven to move in the three directions of the back direction, the right direction and the left direction when the vehicle body collides, and the anti-collision function of the machine is effectively realized.
The utility model discloses a theory of operation is: the front end of the anti-collision top plate 6 is of a U-shaped structure and can be contacted with the collision from the front side, the left side and the right side of the machine, under the action of the tension spring 9, the fixed cushion block 4 is pressed down on the top corner part of the fan-shaped sliding adjusting hole 51, and the anti-collision sliding plate 5 can move in the three directions of back, right and left after being collided, so that the single anti-collision structure can prevent the collision in the three directions; during collision, the anti-collision top plate 6 moves to drive the sliding detection hole 61 to move, the proximity sensor 1 detects a moving signal and outputs a switching signal, and the controller controls the machine to stop moving; after collision is stopped, the tension spring 9 pulls the anti-collision sliding plate 5 to the top corner part of the fan-shaped sliding adjusting hole 51, and the anti-collision sliding plate 5 drives the anti-collision top plate 6 to move so as to realize resetting.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A service robot collision avoidance mechanism, comprising:
the upper side of the chassis fixing plate is used for connecting a vehicle body, and the lower side of the chassis fixing plate is connected with an anti-collision sliding plate;
the anti-collision device comprises an anti-collision sliding plate, a sliding adjusting hole is formed in the anti-collision sliding plate, a fixed cushion block capable of moving in the sliding adjusting hole is arranged in the sliding adjusting hole, and the thickness of the fixed cushion block is larger than that of the anti-collision sliding plate; the upper side of the anti-collision sliding plate is connected with the chassis fixing plate through the fixing cushion block;
the lower side of the anti-collision sliding plate is connected with the fixed bottom plate through the fixed cushion block;
the anti-collision device comprises an anti-collision top plate, wherein a proximity sensor used for detecting a position signal is arranged on the anti-collision top plate, the anti-collision top plate is detachably connected or fixedly and integrally connected with an anti-collision sliding plate, and the anti-collision sliding plate can move backwards, rightwards and leftwards after the anti-collision top plate is collided;
and one end of the elastic piece is connected with the anti-collision sliding plate, and the other end of the elastic piece is connected with the fixed bottom plate.
2. The service robot collision avoidance mechanism of claim 1, wherein the collision avoidance slide is provided with a slide tension spring connection hole, the fixed base plate is provided with a tension spring connection hole, one end of the elastic member is connected to the slide tension spring connection hole, and the other end of the elastic member is connected to the tension spring connection hole.
3. The service robot collision avoidance mechanism of claim 1, wherein the resilient member is a tension spring.
4. The service robot collision avoidance mechanism of claim 1, further comprising an upper pad and a lower pad, the upper pad and the lower pad being located on either side of the fixed pad.
5. The service robot collision avoidance mechanism of claim 1, wherein the collision avoidance top plate is detachably connected to the collision avoidance sliding plate, the collision avoidance sliding plate is further provided with a sliding plate connecting hole, the collision avoidance top plate is further provided with a top plate adjusting hole matched with the sliding plate connecting hole, and the sliding plate connecting hole corresponds to the top plate adjusting hole in position.
6. The service robot collision avoidance mechanism of claim 5, wherein the sled connection aperture is an oblong hole.
7. The service robot collision avoidance mechanism of claim 2, wherein the mounting plate further comprises a tension spring side attachment hole for attaching the elastic member.
8. The service robot collision avoidance mechanism of claim 7, wherein the slide plate tension spring attachment hole, the tension spring attachment hole and the tension spring side attachment hole are all row holes.
9. The service robot collision avoidance mechanism of claim 1, wherein a proximity sensor positioning hole is formed in the chassis fixing plate, a slide detection hole is formed in the collision avoidance top plate, and the proximity sensor is mounted on the slide detection hole through the proximity sensor positioning hole.
10. The service robot collision avoidance mechanism of claim 1, wherein the front section of the roof panel is U-shaped to contact a collision on three sides of a front, left front and right front of the vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122319759.4U CN217123183U (en) | 2021-09-24 | 2021-09-24 | Service robot anticollision institution |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122319759.4U CN217123183U (en) | 2021-09-24 | 2021-09-24 | Service robot anticollision institution |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217123183U true CN217123183U (en) | 2022-08-05 |
Family
ID=82613910
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122319759.4U Active CN217123183U (en) | 2021-09-24 | 2021-09-24 | Service robot anticollision institution |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217123183U (en) |
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2021
- 2021-09-24 CN CN202122319759.4U patent/CN217123183U/en active Active
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