Ϊ306799 y 九、發明說明： 【發明所屬之技術領域】 本發明係關於一種機器人之安全防護機構之精進改良，特別是指一種 能確實避免因碰撞、摔倒造成損壞之機器人防撞、防摔結構。 【先前技術】 按，目前機器人的領域可分成三類，即工業機器人、服務機器人以及 娛樂機器人。工業器人目前應用於許多領域，在技術水準、應用範圍、產 業規模等方面佔有絕對主導地位。娛樂機器人包括機器人寵物以及目前流 行的基於pc平臺具有對抗性的比赛機器人。服務機器人是以人為服務物 件，主要用於迎賓、導遊、短距離運輸以及家政服務等場所。 這類型機器人體内係具有自平衡系統設計，且於身體内具有嵌入式 CPU，在其控制下採集平衡感測器資料，通過建立的系統數學模型和控制演 算法，計算輸出PWM信號，自動控制兩個伺服電機的轉矩，使身體持平衡 並忐夠根據人體重心的偏移，自動前進、後退及轉彎。 截至目前為止似乎尚未有專為機器人設計之安全防護結構，僅有利用 稍具防碰撞賴之材質製成之外殼，但卻無法剌於各麵式之機器人或 ”匕了行走移動之電子產品’故仍需更精進之安全結構以解決現階段所 遭遇之困難點。 本發明人有祕此’乃雜尋求顧之道，麟其帛積之專業知識與 :不斷研究、武驗，終設計出此一勒新又實用之本發明「機器人防 撞、防摔結構’期能提昇機器人之產業利用價值，並促進產業進步。 5 1306799 【發明内容】 本發明係提供-種齡人隨、防雜構藉以達成更完善之機器人 的安全防護機制與效用。 為達成此目的，本發明之一較佳實施例中乃於機器人全身所有關節處 及前u'右四面均設有雜雜體、轉，該彈性雜齡採嵌入方 式結合，且預留有適當間隙’用以緩衝及分散撞擊後之振盪力。 另外’於該機器人之身體前、後再設有-個以上之安全氣囊，係以機 I器人内部之水平儀為感測依據，當水平向之任一方產生過大角度變化則 會適時地決定由前方或後方之安全氣囊啟動彈出，達到防撞、防摔之安全 效用。 為使貴審查委員進-步瞭解前述目的及本發明之結構特徵，兹附以 圖式詳細說明如后： 【實施方式】 請配合參閱第-圖所示，係揭露一較佳實施例之機器人正面防撞、防 摔結構分佈7F意圖，其中於機器人（i )前、後及全身所有關節處及前、 後、左、右四面均設有彈性球狀體（2)結構，該彈性球狀體（2)係採 直接嵌入方式結合於機器人（1 )之身體表面預設孔槽（i i )(如第四圖 所示）’且在組合時預留有適當間隙，用以緩衝及分散撞擊後之變形及振盪 力，另外，於該機器人（1)之身體前、後再依需求分設有一個以上之安 全氣囊（3 )，係以該機器人（1)内部之水平儀做為感測啟動之依據，當 水平向之任一方產生過大角度變化，（如超過30度以上，其中以45_60度 6 1306799 左右為最佳判定範圍)便會適時地蚊由前方或後方之安全氣囊（3 )啟動 彈出，以搭配彈性球狀體（2)做最完善之防撞、p方摔安全效用。 請配合參閱第二圖所示，係揭露一較佳實施例之機器人側面防撞、防 摔結構分佈示意圖；其中包括於機器人（丨）所有可動部位之關節外側均 適位铁設有雜雜體（2 )形成之安全防賴’峰低錄絕其側面遭 受損傷之風險。 請配合參閱第三圖所示，係揭露一較佳實施例之機器人上視防撞、防 摔結構分佈示意圖；其中顯示於機器人（i)之全身已分佈有多數彈性球 狀體（2 )’嚴然已形成一環狀包覆型態，應可徹底降低其遭碰撞、摔倒造 成之損傷機率。 請配合參閱第四圖所示，係揭露一較佳實施例之彈性球狀體結合示意 圖；其中之彈性球狀體（2 )係對應機器人（1)預設之孔槽（i 1 )，且 採直接擠壓迫入大於二分之一之體積以形成固定且不會掉落，又嵌入之彈 性球狀體（2)與孔槽（11)間係保有適當間隙未接觸，以具有緩衝其 遭碰撞之變形與振盪力。 經上述說明可知，再次強調本發明之優點、特色包括： 1、 彈性球狀體可大可小，且依所欲保護部分做分佈疏密程度之選擇。 2、 特別在活動之關節處與全身周面嵌設有彈性球狀體，以形成涵蓋 面積最大最完善之保護。 3、 彈性球狀體於内側保留有相當間隙，以緩衝遭衝擊變形之振盪力。 4、 適用於各類型之可行走移動之電子產品。 1306799 5、又針對特定雜貴4零倾之前、後面雜搬設有安全氣囊，並 藉由機器人内部之水平儀感測某一方向之特定角度（3〇度以上其中以 45_60度左右為最佳判定範圍）變化，以決定啟動彈出相對應之安全氣囊， 而獲致最大保護效果。 以上種種’足見本發明所存在之顯著進步性，並確實可達成其預定之 目的與功效。 . 综合以上’本發明乃屬一種針對可行走移動之各類型電子產品（如機 籲器人等）的安全防護措施，換言之，係種強調能避免此類產品在作動時 因碰撞、摔倒造成内部貴重零件損壞，以達到防撞、防摔雙重效用之設計， 此設計最大特色在於可錄重零叙所在卿性辕雜破其分佈之疏 密程度’且所有彈性球狀體均以直接嵌合方式迫入固定，勿需額外複雜加 工來進推合’雖構造簡單但效果料_，已具實祕之功效且能合於 發明專利申請要件，爰依法具文提出申請。 【圖式簡單說明】 第一圖係本發明一較佳實施例之機器人前視圖。 第二圖係本發明一較佳實施例之機器人側視圖。 第三圖係本發明一較佳實施例之機器人上視圖。 第四圖係本發明一較佳實施例之局部結構圖。 【主要元件符號說明】 機器人（1) 孔槽（1 1) 彈性球狀體（2) 安全氣囊（3)Ϊ 306799 y IX. Description of the Invention: [Technical Field] The present invention relates to a technical improvement of a robot's safety protection mechanism, and more particularly to a robot collision avoidance and anti-drop structure capable of reliably avoiding damage caused by collision or falling. . [Prior Art] According to the current, the field of robots can be divided into three categories, namely, industrial robots, service robots, and entertainment robots. Industrial workers are currently used in many fields, and they have an absolute dominant position in terms of technical level, application range, and industrial scale. Entertainment robots include robotic pets and currently popular game robots based on the pc platform. Service robots are man-made services and are mainly used for welcoming, guided tours, short-distance transportation, and housekeeping services. This type of robot has a self-balancing system design, and has an embedded CPU in the body. Under its control, it collects balanced sensor data, and calculates the output PWM signal through the established system mathematical model and control algorithm. The torque of the two servo motors keeps the body balanced and automatically advances, retreats and turns according to the deviation of the person's weight. So far, there seems to be no safety protection structure designed for robots. It is only made of a material made of a material that is slightly resistant to collision, but it cannot be used in all kinds of robots or "electronic products that walk and move." Therefore, a more advanced security structure is still needed to solve the difficulties encountered at this stage. The inventor has the secret of 'the miscellaneous seeking Gu Zhidao, Lin's hoarding expertise and: continuous research, arbitrage, and final design This new and practical invention of the "robot anti-collision, anti-drop structure" period can enhance the industrial use value of the robot and promote industrial progress. 5 1306799 [Summary of the Invention] The present invention provides - the age of people with, anti-misc In order to achieve this, in a preferred embodiment of the present invention, all the joints of the robot body and the front u' right side are provided with a hybrid body and a turn. The elastic hybrid age is combined with the embedding method, and a proper gap is reserved for buffering and dispersing the oscillating force after the impact. In addition, 'more than one before and after the body of the robot The airbag is based on the level of the internal device of the machine. When the horizontal angle is changed to any one of the angles, it will be timely decided to start the airbag by the front or rear airbag to achieve anti-collision and anti-fall. For the purpose of making the above-mentioned objectives and the structural features of the present invention, the detailed description of the present invention is as follows: [Embodiment] Please refer to the first figure to disclose a preferred embodiment. The robot front anti-collision and anti-drop structure distribution 7F intention, wherein the robot (i) front, rear and all joints of the whole body and the front, back, left and right sides are provided with elastic spherical body (2) structure, The elastic spheroid (2) is directly embedded in the body surface preset hole (ii) (as shown in the fourth figure) of the body surface of the robot (1) and has a proper clearance for cushioning when combined. And dispersing the deformation and oscillating force after the impact. In addition, one or more airbags (3) are arranged in front of and behind the body of the robot (1) according to the requirements, and the level of the robot (1) is used as the level Sensing start According to the fact, when the horizontal direction changes to any one of the large angles (for example, more than 30 degrees, of which 45_60 degrees 6 1306799 is the best judgment range), the mosquitoes will be activated by the front or rear airbag (3). With the elastic spheroid (2), the most perfect anti-collision and p-square safety effects can be achieved. Please refer to the second figure to disclose the distribution of the side anti-collision and anti-drop structures of the robot according to a preferred embodiment. It is included in the outer part of the joint of all movable parts of the robot (丨). The iron is provided with the impurity (2). The safety of the peak is low. The risk of damage to the side is recorded. Please refer to the third figure. Shown is a schematic diagram showing the distribution of the anti-collision and anti-drop structures of the robot in a preferred embodiment; wherein the robot (i) has a plurality of elastic spheroids (2) distributed throughout the body. The coating type should completely reduce the chance of damage caused by collision and falling. Referring to FIG. 4, a schematic diagram of a flexible spherical body according to a preferred embodiment is disclosed; wherein the elastic spherical body (2) corresponds to a predetermined slot (i 1 ) of the robot (1), and The direct extrusion is forced into more than one-half of the volume to form a fixed and does not fall, and the embedded elastic spherical body (2) and the hole groove (11) are kept in contact with the appropriate gap to have a cushioning effect. The deformation and oscillating force of the collision. It can be seen from the above description that the advantages and features of the present invention are emphasized again: 1. The elastic spheroid can be large or small, and the choice of the degree of distribution and density according to the desired part of protection. 2. Elastic spheroids are embedded in the joints of the activities and the circumference of the whole body to form the largest and most complete protection of the covered area. 3. The elastic spheroid retains a considerable gap on the inner side to cushion the oscillating force of the impact deformation. 4. Applicable to all types of mobile electronic products. 1306799 5, in addition to the specific miscellaneous 4 zero tilt before and after the miscellaneous movement of the airbag, and by the internal level of the robot to sense a certain angle of a certain direction (3 degrees or more of which is about 45_60 degrees is the best judgment The range) changes to determine the start of the corresponding airbag, and the maximum protection effect is achieved. The above various aspects are evident in the significant advancement of the present invention and indeed achieve its intended purpose and efficacy. In summary, the present invention is a safety protection measure for various types of electronic products (such as machine callers) that can be moved and moved. In other words, the emphasis is on avoiding such collisions and falls caused by such products during operation. The internal valuable parts are damaged to achieve the double-effect of anti-collision and anti-drop. The biggest feature of this design is that it can record the weight of the zero-noise and break the density of its distribution' and all the elastic spheroids are directly embedded. The method is forced to be fixed, and no additional complicated processing is required to make the push. 'Although the structure is simple but the effect material _, it has the effect of real secret and can meet the requirements of the invention patent application. BRIEF DESCRIPTION OF THE DRAWINGS The first drawing is a front view of a robot according to a preferred embodiment of the present invention. The second drawing is a side view of a robot in accordance with a preferred embodiment of the present invention. The third figure is a top view of a robot in accordance with a preferred embodiment of the present invention. The fourth drawing is a partial structural view of a preferred embodiment of the present invention. [Explanation of main component symbols] Robot (1) Hole groove (1 1) Elastic spheroid (2) Airbag (3)
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