WO2021196180A1 - Anti-collision protection device for smart robot - Google Patents

Anti-collision protection device for smart robot Download PDF

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Publication number
WO2021196180A1
WO2021196180A1 PCT/CN2020/083271 CN2020083271W WO2021196180A1 WO 2021196180 A1 WO2021196180 A1 WO 2021196180A1 CN 2020083271 W CN2020083271 W CN 2020083271W WO 2021196180 A1 WO2021196180 A1 WO 2021196180A1
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WO
WIPO (PCT)
Prior art keywords
plate
hollow
protection device
collision protection
fixedly connected
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PCT/CN2020/083271
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French (fr)
Chinese (zh)
Inventor
温高森
李胜红
曾晶霞
李国辉
Original Assignee
昆山代克智能科技有限公司
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Application filed by 昆山代克智能科技有限公司 filed Critical 昆山代克智能科技有限公司
Priority to DE212020000034.4U priority Critical patent/DE212020000034U1/en
Priority to PCT/CN2020/083271 priority patent/WO2021196180A1/en
Publication of WO2021196180A1 publication Critical patent/WO2021196180A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0091—Shock absorbers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices

Definitions

  • the invention relates to the technical field of anti-collision protection, in particular to an anti-collision protection device for an intelligent robot.
  • the existing anti-collision protection device of the intelligent robot has a simple structure and only relies on a set of springs for protection, but such protection measures have short energy absorption strokes and poor shock absorption performance, resulting in low anti-collision effects.
  • the present invention provides an anti-collision protection device for an intelligent robot.
  • the elastic force of the first damping spring is greater than that of the second damping spring.
  • the elasticity of the damping spring can make the hollow shrapnel plate first push the second damping spring to contract on the guide bar after contacting the impact.
  • the remaining impact force will also compress the hollow shrapnel plate and pass the hollow shrapnel plate to the first
  • a shock-absorbing spring absorbs the remaining energy, thereby prolonging the contraction stroke, achieving the purpose of improving the shock-absorbing energy-absorbing effect, and solving the problems raised in the above-mentioned background art.
  • an anti-collision protection device for an intelligent robot includes a fixed plate, and slide rails are fixedly connected to the edges on both sides of one side of the fixed plate.
  • a guide bar is fixedly connected to the center of the inner wall
  • a sliding block is slidably connected to the inner wall of the sliding rail
  • a guide sliding hole is opened at the center of the sliding block
  • the edges on both sides of the top surface of the sliding block are fixedly connected with connections
  • a connecting rod is rotatably connected to the center of the connecting piece
  • a connecting ear plate is rotatably connected to the end of the connecting rod away from the connecting piece
  • the side of the connecting ear plate away from the connecting rod is fixedly connected to a hollow shrapnel plate
  • a plurality of first damping springs are fixedly connected to the inner wall of the hollow shrapnel plate
  • a second damping spring is sleeved on the surface of the guide bar
  • a fixing hole is opened
  • the position of the guide sliding hole corresponds to the position of the guide bar
  • the diameter of the guide sliding hole is adapted to the diameter of the guide bar
  • the sliding block is slidably connected to the guide bar through the guide sliding hole.
  • the position of the second damping spring is between the slider and the inner wall of the sliding rail, and the diameter of the second damping spring is smaller than the diameter of the inner wall of the sliding rail.
  • the slider is rotatably connected to the connecting rod via a connecting piece, the connecting piece penetrates the middle of the sliding rail, and both sides of the connecting piece are slidingly connected to the middle of the sliding rail.
  • the first damping spring is evenly distributed on the inner wall of the hollow shrapnel plate, and the elastic force of the first damping spring is greater than the elasticity of the second damping spring.
  • the middle of the hollow shrapnel plate has a hollow structure
  • the two ends of the hollow shrapnel plate are arc-shaped
  • the material of the hollow shrapnel plate is high-elastic rubber.
  • the fixing holes are elongated holes, there are four fixing holes in total, and the four fixing holes are distributed radially at intervals of ninety degrees.
  • the invention provides an anti-collision protection device for an intelligent robot, which has the following beneficial effects:
  • the anti-collision protection device of the intelligent robot is provided with a first damping spring, a second damping spring and a hollow shrapnel plate, and the position of the second damping spring is located between the sliding block and the inner wall of the sliding rail, and the first damping
  • the shock springs are evenly distributed on the inner wall of the hollow shrapnel plate.
  • the elastic force of the first damping spring is greater than the elasticity of the second damping spring, which enables the hollow shrapnel plate to first push the second damping spring to contract on the guide bar after contacting the impact.
  • the second shock absorber spring When the second shock absorber spring is fully compressed to absorb the impact force, the remaining impact force will be compressed on the hollow shrapnel plate, and the remaining energy will be absorbed through the hollow shrapnel plate and the first shock absorber spring, thereby extending the contraction stroke and achieving an increase The purpose of shock absorption and energy absorption.
  • Figure 1 is a schematic diagram of the structure of the present invention
  • Figure 2 is a schematic top view of the structure of the present invention.
  • Fig. 3 is a schematic diagram of the sectional structure at A in Fig. 2 of the present invention.
  • Figure 4 is a schematic diagram of the structure of the slider of the present invention.
  • an anti-collision protection device for an intelligent robot including a fixed plate 1, the fixed plate 1 is fixedly connected with slide rails 2 on both sides of the edge of the side, sliding A guide bar 11 is fixedly connected to the center of the inner wall of the rail 2, a sliding block 3 is slidably connected to the inner wall of the sliding rail 2, a guide sliding hole 9 is opened at the center of the sliding block 3, and the edges on both sides of the top surface of the sliding block 3 are fixedly connected
  • There is a connecting piece 4 the center of the connecting piece 4 is rotatably connected with a connecting rod 5, the end of the connecting rod 5 away from the connecting piece 4 is rotatably connected with a connecting ear plate 8, and the side of the connecting ear plate 8 away from the connecting rod 5 is fixedly connected with a hollow
  • a plurality of first damping springs 7 are fixedly connected to the inner wall of the hollow spring plate 6, a second damping spring 12 is sleeved on the surface of the guide bar 11, and a
  • the position of the guide sliding hole 9 corresponds to the position of the guide bar 11.
  • the diameter of the guide sliding hole 9 is adapted to the diameter of the guide bar 11.
  • the slider 3 is slidably connected to the guide bar 11 through the guide sliding hole 9 Guided sliding can realize stable horizontal sliding.
  • the second damping spring 12 is located between the slider 3 and the inner wall of the slide rail 2.
  • the diameter of the second damping spring 12 is smaller than the diameter of the inner wall of the slide rail 2, so that the slider 3 can push the second damping spring 12 Compress, so as to absorb energy.
  • the sliding block 3 is rotatably connected with the connecting rod 5 through the connecting piece 4, the connecting piece 4 penetrates the middle part of the sliding rail 2, and both sides of the connecting piece 4 are slidingly connected with the middle part of the sliding rail 2.
  • the first damping spring 7 is evenly distributed on the inner wall of the hollow shrapnel plate 6, and the elastic force of the first damping spring 7 is greater than the elasticity of the second damping spring 12, so that the second damping spring 12 can be fully compressed and absorbed after the impact force is absorbed.
  • the remaining impact force will also compress the hollow shrapnel plate 6 and absorb the remaining energy through the hollow shrapnel plate 6 and the first damping spring 7, so as to extend the contraction stroke and achieve the purpose of improving the effect of shock absorption and energy absorption.
  • the middle part of the hollow shrapnel plate 6 is a hollow structure.
  • the two ends of the hollow shrapnel plate 6 are arc-shaped.
  • the material of the hollow shrapnel plate 6 is high-elastic rubber, so that the hollow shrapnel plate 6 can be squeezed into the hollow after being impacted.
  • the material of the hollow shrapnel plate 6 is high-elastic rubber, so that it can also be automatically reset.
  • the fixing holes 10 are elongated holes. There are four fixing holes 10 in total. The four fixing holes 10 are distributed radially at intervals of ninety degrees, so that the four fixing holes 10 form a cross-shaped mounting hole and are fixed by the elongated shape. The hole 10 can adjust the position of the fixing bolt to adapt to different bolt installation positions.
  • the anti-collision protection device of the intelligent robot is used by setting the first damping spring 7, the second damping spring 12 and the hollow shrapnel plate 6, and the second damping spring 12 is located in the sliding position.
  • the first damping spring 7 is evenly distributed on the inner wall of the hollow shrapnel plate 6.
  • the elastic force of the first damping spring 7 is greater than the elasticity of the second damping spring 12, which can make the hollow shrapnel plate 6 After contacting the impact, first push the second damping spring 12 to contract on the guide bar 11.
  • the second damping spring 12 is fully compressed to absorb the impact force, the remaining impact force will also compress the hollow shrapnel plate 6.
  • the hollow shrapnel plate 6 and the first shock-absorbing spring 7 absorb the remaining energy, thereby extending the contraction stroke and achieving the purpose of improving the shock-absorbing and energy-absorbing effect.

Abstract

An anti-collision protection device for a smart robot. The anti-collision protection device comprises a fixing plate (1). The edges of two sides of one side surface of the fixing plate are fixedly connected to sliding rails (2), and the center of the inner wall of each sliding rail is fixedly connected to a guide bar (11); the inner wall of the sliding rail is slidably connected to a sliding block (3), and the circle center of the sliding block is provided with a guide slide hole (9); the edges of two sides of the top surface of the sliding block are fixedly connected to connecting pieces (4), the circle center of the each connecting piece is rotatably connected to a connecting rod (5), and one end of the connecting rod away from the connecting piece is rotatably connected to a connecting lug plate (8); one side of the connecting lug plate away from the connecting rod is fixedly connected to a hollow elastic sheet plate (6), the inner wall of the hollow elastic sheet plate is fixedly connected to a plurality of first damping springs (7); a second damping spring (12) is sleeved over the surface of the guide bar. According to the anti-collision protection device for the smart robot, the second damping spring can be firstly pushed to contract on the guide bar after the hollow elastic sheet plate is in contact with collision, the remaining impact force would also compress the hollow elastic sheet plate, and the remaining energy is absorbed by means of the hollow elastic sheet plate and the first damping springs, thereby prolonging a contraction stroke, and achieving the purpose of improving shock absorption and energy absorption effects.

Description

一种智能机器人的防撞保护装置Anti-collision protection device of intelligent robot 技术领域Technical field
本发明涉及防撞保护技术领域，具体为一种智能机器人的防撞保护装置。The invention relates to the technical field of anti-collision protection, in particular to an anti-collision protection device for an intelligent robot.
背景技术Background technique
智能机器人之所以叫智能机器人，这是因为它有相当发达的“大脑”。在脑中起作用的是中央处理器，这种计算机跟操作它的人有直接的联系。最主要的是，这样的计算机可以进行按目的安排的动作。正因为这样，我们才说这种机器人才是真正的机器人，尽管它们的外表可能有所不同。由于智能机器人内部安装有处理器芯片等精密的元件，这些元件受到撞击时极易损坏，而在智能机器人试验阶段，经常会发生倾倒掉落的意外，这些意外均会造成撞击，因此在实验阶段需要防撞保护装置进行防护，但是目前的智能机器人的防撞保护装置，在实际使用中还存在以下问题：The reason why an intelligent robot is called an intelligent robot is because it has a fairly developed "brain". What works in the brain is the central processing unit. This type of computer has a direct connection with the person operating it. The most important thing is that such a computer can perform actions arranged according to purpose. Because of this, we say that this kind of robot is the real robot, although their appearance may be different. Because the smart robot is equipped with sophisticated components such as processor chips, these components are easily damaged when impacted. In the test phase of the smart robot, accidents of dumping and falling often occur. These accidents will cause impacts. Therefore, in the experimental phase Anti-collision protection devices are needed for protection, but the current anti-collision protection devices of smart robots still have the following problems in actual use:
现有智能机器人的防撞保护装置，结构简单，仅仅依靠一组弹簧进行防护，但这样的防护措施吸能行程短，减震性能不佳，导致防撞效果低下。The existing anti-collision protection device of the intelligent robot has a simple structure and only relies on a set of springs for protection, but such protection measures have short energy absorption strokes and poor shock absorption performance, resulting in low anti-collision effects.
发明概述Summary of the invention
技术问题technical problem
问题的解决方案The solution to the problem
技术解决方案Technical solutions
(一)解决的技术问题(1) Technical problems solved
针对现有技术的不足，本发明提供了一种智能机器人的防撞保护装置，通过设置了第一减震弹簧、第二减震弹簧与中空弹片板，第一减震弹簧的弹力大于第二减震弹簧的弹性，能够使中空弹片板在接触到撞击后首先推动第二减震弹簧在导向杠上收缩，剩余的冲击力还会在对中空弹片板进行压缩，并通过中空弹片板与第一减震弹簧吸收剩余的能量，从而延长收缩行程，达到提高减震吸能效果的目的，解决了上述背景技术中提出的问题。In view of the shortcomings of the prior art, the present invention provides an anti-collision protection device for an intelligent robot. By providing a first damping spring, a second damping spring and a hollow shrapnel plate, the elastic force of the first damping spring is greater than that of the second damping spring. The elasticity of the damping spring can make the hollow shrapnel plate first push the second damping spring to contract on the guide bar after contacting the impact. The remaining impact force will also compress the hollow shrapnel plate and pass the hollow shrapnel plate to the first A shock-absorbing spring absorbs the remaining energy, thereby prolonging the contraction stroke, achieving the purpose of improving the shock-absorbing energy-absorbing effect, and solving the problems raised in the above-mentioned background art.
(二)技术方案(2) Technical solution
为实现以上目的，本发明通过以下技术方案予以实现：一种智能机器人的防撞保护装置，包括固定板，所述固定板一侧面两侧的边缘处均固定连接有滑轨，所述滑轨内壁中心处固定连接有导向杠，所述滑轨的内壁滑动连接有滑块，所述滑块的圆心处开设有导向滑孔，所述滑块顶面两侧的边缘处均固定连接有连接片，所述连接片的圆心处转动连接有连接杆，所述连接杆远离连接片的一端转动连接有连接耳板，所述连接耳板远离连接杆的一侧固定连接有中空弹片板，所述中空弹片板的内壁固定连接有若干第一减震弹簧，所述导向杠的表面套接有第二减震弹簧，所述固定板表面的中心处开设有固定孔。In order to achieve the above objectives, the present invention is achieved through the following technical solutions: an anti-collision protection device for an intelligent robot includes a fixed plate, and slide rails are fixedly connected to the edges on both sides of one side of the fixed plate. A guide bar is fixedly connected to the center of the inner wall, a sliding block is slidably connected to the inner wall of the sliding rail, a guide sliding hole is opened at the center of the sliding block, and the edges on both sides of the top surface of the sliding block are fixedly connected with connections A connecting rod is rotatably connected to the center of the connecting piece, a connecting ear plate is rotatably connected to the end of the connecting rod away from the connecting piece, and the side of the connecting ear plate away from the connecting rod is fixedly connected to a hollow shrapnel plate, so A plurality of first damping springs are fixedly connected to the inner wall of the hollow shrapnel plate, a second damping spring is sleeved on the surface of the guide bar, and a fixing hole is opened at the center of the surface of the fixing plate.
可选的，所述导向滑孔的位置与导向杠的位置相对应，所述导向滑孔的直径与导向杠的直径相适配，所述滑块通过导向滑孔与导向杠滑动连接。Optionally, the position of the guide sliding hole corresponds to the position of the guide bar, the diameter of the guide sliding hole is adapted to the diameter of the guide bar, and the sliding block is slidably connected to the guide bar through the guide sliding hole.
可选的，所述第二减震弹簧的位置位于滑块与滑轨的内壁之间，所述第二减震弹簧的直径小于滑轨内壁的直径。Optionally, the position of the second damping spring is between the slider and the inner wall of the sliding rail, and the diameter of the second damping spring is smaller than the diameter of the inner wall of the sliding rail.
可选的，所述滑块通过连接片与连接杆转动连接，所述连接片贯穿滑轨的中部，所述连接片的两侧与滑轨的中部滑动连接。Optionally, the slider is rotatably connected to the connecting rod via a connecting piece, the connecting piece penetrates the middle of the sliding rail, and both sides of the connecting piece are slidingly connected to the middle of the sliding rail.
可选的，所述第一减震弹簧均匀分布于中空弹片板的内壁，所述第一减震弹簧的弹力大于第二减震弹簧的弹性。Optionally, the first damping spring is evenly distributed on the inner wall of the hollow shrapnel plate, and the elastic force of the first damping spring is greater than the elasticity of the second damping spring.
可选的，所述中空弹片板的中部为中空结构，所述中空弹片板的两端为圆弧状，所述中空弹片板的材质为高弹橡胶。Optionally, the middle of the hollow shrapnel plate has a hollow structure, the two ends of the hollow shrapnel plate are arc-shaped, and the material of the hollow shrapnel plate is high-elastic rubber.
可选的，所述固定孔为长条状孔，所述固定孔共有四个，四个所述固定孔相互间隔九十度呈放射状分布。Optionally, the fixing holes are elongated holes, there are four fixing holes in total, and the four fixing holes are distributed radially at intervals of ninety degrees.
发明的有益效果The beneficial effects of the invention
有益效果Beneficial effect
本发明提供了一种智能机器人的防撞保护装置，具备以下有益效果：The invention provides an anti-collision protection device for an intelligent robot, which has the following beneficial effects:
该智能机器人的防撞保护装置，通过设置了第一减震弹簧、第二减震弹簧与中空弹片板，且第二减震弹簧的位置位于滑块与滑轨的内壁之间，第一减震弹簧均匀分布于中空弹片板的内壁，第一减震弹簧的弹力大于第二减震弹簧的弹性，能够使中空弹片板在接触到撞击后首先推动第二减震弹簧在导向杠上收缩，当第二减震弹簧完全压缩吸收冲击力后，剩余的冲击力还会在对中空弹片板进 行压缩，并通过中空弹片板与第一减震弹簧吸收剩余的能量，从而延长收缩行程，达到提高减震吸能效果的目的。The anti-collision protection device of the intelligent robot is provided with a first damping spring, a second damping spring and a hollow shrapnel plate, and the position of the second damping spring is located between the sliding block and the inner wall of the sliding rail, and the first damping The shock springs are evenly distributed on the inner wall of the hollow shrapnel plate. The elastic force of the first damping spring is greater than the elasticity of the second damping spring, which enables the hollow shrapnel plate to first push the second damping spring to contract on the guide bar after contacting the impact. When the second shock absorber spring is fully compressed to absorb the impact force, the remaining impact force will be compressed on the hollow shrapnel plate, and the remaining energy will be absorbed through the hollow shrapnel plate and the first shock absorber spring, thereby extending the contraction stroke and achieving an increase The purpose of shock absorption and energy absorption.
对附图的简要说明Brief description of the drawings
附图说明Description of the drawings
图1为本发明的结构示意图；Figure 1 is a schematic diagram of the structure of the present invention;
图2为本发明的俯视结构示意图；Figure 2 is a schematic top view of the structure of the present invention;
图3为本发明图2中A处的断面结构示意图；Fig. 3 is a schematic diagram of the sectional structure at A in Fig. 2 of the present invention;
图4为本发明滑块的结构示意图。Figure 4 is a schematic diagram of the structure of the slider of the present invention.
图中：1-固定板、2-滑轨、3-滑块、4-连接片、5-连接杆、6-空弹片板、7-第一减震弹簧、8-连接耳板、9-导向滑孔、10-固定孔、11-导向杠、12-第二减震弹簧。In the picture: 1- fixed plate, 2- slide rail, 3- slider, 4- connecting piece, 5- connecting rod, 6-empty shrapnel plate, 7- first shock-absorbing spring, 8- connecting lug plate, 9- Guide sliding hole, 10-fixing hole, 11-guide bar, 12-second shock-absorbing spring.
发明实施例Invention embodiment
本发明的实施方式Embodiments of the present invention
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.
请参阅图1至图4，本发明提供一种技术方案：一种智能机器人的防撞保护装置，包括固定板1，固定板1一侧面两侧的边缘处均固定连接有滑轨2，滑轨2内壁中心处固定连接有导向杠11，滑轨2的内壁滑动连接有滑块3，滑块3的圆心处开设有导向滑孔9，滑块3顶面两侧的边缘处均固定连接有连接片4，连接片4的圆心处转动连接有连接杆5，连接杆5远离连接片4的一端转动连接有连接耳板8，连接耳板8远离连接杆5的一侧固定连接有中空弹片板6，中空弹片板6的内壁固定连接有若干第一减震弹簧7，导向杠11的表面套接有第二减震弹簧12，固定板1表面的中心处开设有固定孔10。1 to 4, the present invention provides a technical solution: an anti-collision protection device for an intelligent robot, including a fixed plate 1, the fixed plate 1 is fixedly connected with slide rails 2 on both sides of the edge of the side, sliding A guide bar 11 is fixedly connected to the center of the inner wall of the rail 2, a sliding block 3 is slidably connected to the inner wall of the sliding rail 2, a guide sliding hole 9 is opened at the center of the sliding block 3, and the edges on both sides of the top surface of the sliding block 3 are fixedly connected There is a connecting piece 4, the center of the connecting piece 4 is rotatably connected with a connecting rod 5, the end of the connecting rod 5 away from the connecting piece 4 is rotatably connected with a connecting ear plate 8, and the side of the connecting ear plate 8 away from the connecting rod 5 is fixedly connected with a hollow A plurality of first damping springs 7 are fixedly connected to the inner wall of the hollow spring plate 6, a second damping spring 12 is sleeved on the surface of the guide bar 11, and a fixing hole 10 is opened at the center of the surface of the fixing plate 1.
作为本发明的一种优选技术方案：As a preferred technical solution of the present invention:
导向滑孔9的位置与导向杠11的位置相对应，导向滑孔9的直径与导向杠11的直径相适配，滑块3通过导向滑孔9与导向杠11滑动连接，通过导向杠11导向滑动，可以实现稳定的水平滑动。The position of the guide sliding hole 9 corresponds to the position of the guide bar 11. The diameter of the guide sliding hole 9 is adapted to the diameter of the guide bar 11. The slider 3 is slidably connected to the guide bar 11 through the guide sliding hole 9 Guided sliding can realize stable horizontal sliding.
作为本发明的一种优选技术方案：As a preferred technical solution of the present invention:
第二减震弹簧12的位置位于滑块3与滑轨2的内壁之间，第二减震弹簧12的直径小于滑轨2内壁的直径，从而使滑块3可以推动第二减震弹簧12进行压缩，从而进行吸能。The second damping spring 12 is located between the slider 3 and the inner wall of the slide rail 2. The diameter of the second damping spring 12 is smaller than the diameter of the inner wall of the slide rail 2, so that the slider 3 can push the second damping spring 12 Compress, so as to absorb energy.
作为本发明的一种优选技术方案：As a preferred technical solution of the present invention:
滑块3通过连接片4与连接杆5转动连接，连接片4贯穿滑轨2的中部，连接片4的两侧与滑轨2的中部滑动连接。The sliding block 3 is rotatably connected with the connecting rod 5 through the connecting piece 4, the connecting piece 4 penetrates the middle part of the sliding rail 2, and both sides of the connecting piece 4 are slidingly connected with the middle part of the sliding rail 2.
作为本发明的一种优选技术方案：As a preferred technical solution of the present invention:
第一减震弹簧7均匀分布于中空弹片板6的内壁，第一减震弹簧7的弹力大于第二减震弹簧12的弹性，从而能够使第二减震弹簧12完全压缩吸收冲击力后，剩余的冲击力还会在对中空弹片板6进行压缩，并通过中空弹片板6与第一减震弹簧7吸收剩余的能量，从而延长收缩行程，达到提高减震吸能效果的目的。The first damping spring 7 is evenly distributed on the inner wall of the hollow shrapnel plate 6, and the elastic force of the first damping spring 7 is greater than the elasticity of the second damping spring 12, so that the second damping spring 12 can be fully compressed and absorbed after the impact force is absorbed. The remaining impact force will also compress the hollow shrapnel plate 6 and absorb the remaining energy through the hollow shrapnel plate 6 and the first damping spring 7, so as to extend the contraction stroke and achieve the purpose of improving the effect of shock absorption and energy absorption.
作为本发明的一种优选技术方案：As a preferred technical solution of the present invention:
中空弹片板6的中部为中空结构，中空弹片板6的两端为圆弧状，中空弹片板6的材质为高弹橡胶，从而使中空弹片板6受到撞击后可以向中空出挤压，同时中空弹片板6的材质为高弹橡胶，使其还可以自动复位。The middle part of the hollow shrapnel plate 6 is a hollow structure. The two ends of the hollow shrapnel plate 6 are arc-shaped. The material of the hollow shrapnel plate 6 is high-elastic rubber, so that the hollow shrapnel plate 6 can be squeezed into the hollow after being impacted. The material of the hollow shrapnel plate 6 is high-elastic rubber, so that it can also be automatically reset.
作为本发明的一种优选技术方案：As a preferred technical solution of the present invention:
固定孔10为长条状孔，固定孔10共有四个，四个固定孔10相互间隔九十度呈放射状分布，从而使四个固定孔10构成一个十字形安装孔，并通过长条状固定孔10可以调节固定螺栓的位置，以便于适应不同的螺栓安装位置。The fixing holes 10 are elongated holes. There are four fixing holes 10 in total. The four fixing holes 10 are distributed radially at intervals of ninety degrees, so that the four fixing holes 10 form a cross-shaped mounting hole and are fixed by the elongated shape. The hole 10 can adjust the position of the fixing bolt to adapt to different bolt installation positions.
综上所述，该智能机器人的防撞保护装置，使用时，通过设置了第一减震弹簧7、第二减震弹簧12与中空弹片板6，且第二减震弹簧12的位置位于滑块3与滑轨2的内壁之间，第一减震弹簧7均匀分布于中空弹片板6的内壁，第一减震弹簧7的弹力大于第二减震弹簧12的弹性，能够使中空弹片板6在接触到撞击后首先推动第二减震弹簧12在导向杠11上收缩，当第二减震弹簧12完全压缩吸收冲击力后，剩余的冲击力还会在对中空弹片板6进行压缩，并通过中空弹片板6与第一减震弹簧7吸收剩余的能量，从而延长收缩行程，达到提高减震吸能效果的目的。In summary, the anti-collision protection device of the intelligent robot is used by setting the first damping spring 7, the second damping spring 12 and the hollow shrapnel plate 6, and the second damping spring 12 is located in the sliding position. Between the block 3 and the inner wall of the slide rail 2, the first damping spring 7 is evenly distributed on the inner wall of the hollow shrapnel plate 6. The elastic force of the first damping spring 7 is greater than the elasticity of the second damping spring 12, which can make the hollow shrapnel plate 6 After contacting the impact, first push the second damping spring 12 to contract on the guide bar 11. When the second damping spring 12 is fully compressed to absorb the impact force, the remaining impact force will also compress the hollow shrapnel plate 6. The hollow shrapnel plate 6 and the first shock-absorbing spring 7 absorb the remaining energy, thereby extending the contraction stroke and achieving the purpose of improving the shock-absorbing and energy-absorbing effect.
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，根据本发明的技术方案及其发明构思加以等同替换或改变，都应涵盖在本发明的保护范围之内。The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited to this. Anyone familiar with the technical field within the technical scope disclosed by the present invention, according to the technical solution of the present invention The equivalent replacement or change of the inventive concept thereof shall all fall within the protection scope of the present invention.

Claims (7)

  1. 一种智能机器人的防撞保护装置，其特征在于：包括固定板(1)，所述固定板(1)一侧面两侧的边缘处均固定连接有滑轨(2)，所述滑轨(2)内壁中心处固定连接有导向杠(11)，所述滑轨(2)的内壁滑动连接有滑块(3)，所述滑块(3)的圆心处开设有导向滑孔(9)，所述滑块(3)顶面两侧的边缘处均固定连接有连接片(4)，所述连接片(4)的圆心处转动连接有连接杆(5)，所述连接杆(5)远离连接片(4)的一端转动连接有连接耳板(8)，所述连接耳板(8)远离连接杆(5)的一侧固定连接有中空弹片板(6)，所述中空弹片板(6)的内壁固定连接有若干第一减震弹簧(7)，所述导向杠(11)的表面套接有第二减震弹簧(12)，所述固定板(1)表面的中心处开设有固定孔(10)。An anti-collision protection device for an intelligent robot, which is characterized in that it comprises a fixed plate (1), and slide rails (2) are fixedly connected to the edges on both sides of one side of the fixed plate (1). 2) A guide bar (11) is fixedly connected to the center of the inner wall, a sliding block (3) is slidably connected to the inner wall of the slide rail (2), and a guide sliding hole (9) is opened at the center of the sliding block (3) , The edges on both sides of the top surface of the sliding block (3) are fixedly connected with connecting pieces (4), and connecting rods (5) are rotatably connected to the center of the connecting pieces (4), and the connecting rods (5) ) One end away from the connecting piece (4) is rotatably connected with a connecting ear plate (8), and the side of the connecting ear plate (8) away from the connecting rod (5) is fixedly connected with a hollow shrapnel plate (6), the hollow shrapnel The inner wall of the plate (6) is fixedly connected with a number of first damping springs (7), the surface of the guide bar (11) is sleeved with a second damping spring (12), and the center of the surface of the fixed plate (1) A fixing hole (10) is opened at the place.
  2. 根据权利要求1所述的一种智能机器人的防撞保护装置，其特征在于：所述导向滑孔(9)的位置与导向杠(11)的位置相对应，所述导向滑孔(9)的直径与导向杠(11)的直径相适配，所述滑块(3)通过导向滑孔(9)与导向杠(11)滑动连接。The anti-collision protection device for an intelligent robot according to claim 1, wherein the position of the guide sliding hole (9) corresponds to the position of the guide bar (11), and the guide sliding hole (9) The diameter of is adapted to the diameter of the guide bar (11), and the sliding block (3) is slidably connected with the guide bar (11) through the guide sliding hole (9).
  3. 根据权利要求1所述的一种智能机器人的防撞保护装置，其特征在于：所述第二减震弹簧(12)的位置位于滑块(3)与滑轨(2)的内壁之间，所述第二减震弹簧(12)的直径小于滑轨(2)内壁的直径。The anti-collision protection device of an intelligent robot according to claim 1, characterized in that: the position of the second damping spring (12) is located between the sliding block (3) and the inner wall of the sliding rail (2), The diameter of the second damping spring (12) is smaller than the diameter of the inner wall of the slide rail (2).
  4. 根据权利要求1所述的一种智能机器人的防撞保护装置，其特征在于：所述滑块(3)通过连接片(4)与连接杆(5)转动连接，所述连接片(4)贯穿滑轨(2)的中部，所述连接片(4)的两侧与滑轨(2)的中部滑动连接。An anti-collision protection device for an intelligent robot according to claim 1, characterized in that the sliding block (3) is rotatably connected to the connecting rod (5) through a connecting piece (4), and the connecting piece (4) Passing through the middle part of the sliding rail (2), the two sides of the connecting piece (4) are slidingly connected with the middle part of the sliding rail (2).
  5. 根据权利要求1所述的一种智能机器人的防撞保护装置，其特征在于：所述第一减震弹簧(7)均匀分布于中空弹片板(6)的内壁，所述第一减震弹簧(7)的弹力大于第二减震弹簧(12)的弹性。The anti-collision protection device of an intelligent robot according to claim 1, characterized in that: the first damping spring (7) is evenly distributed on the inner wall of the hollow shrapnel plate (6), and the first damping spring The elastic force of (7) is greater than the elasticity of the second shock-absorbing spring (12).
  6. 根据权利要求1所述的一种智能机器人的防撞保护装置，其特征在于：所述中空弹片板(6)的中部为中空结构，所述中空弹片板(6)的两端为圆弧状，所述中空弹片板(6)的材质为高弹橡胶。The anti-collision protection device for an intelligent robot according to claim 1, characterized in that: the middle of the hollow shrapnel plate (6) is a hollow structure, and both ends of the hollow shrapnel plate (6) are arc-shaped The material of the hollow shrapnel plate (6) is high-elastic rubber.
  7. 根据权利要求1所述的一种智能机器人的防撞保护装置，其特征在于：所述固定孔(10)为长条状孔，所述固定孔(10)共有四个，四个所述固定孔(10)相互间隔九十度呈放射状分布。The anti-collision protection device for an intelligent robot according to claim 1, characterized in that: the fixing holes (10) are elongated holes, there are four fixing holes (10) in total, and the four fixing holes (10) are The holes (10) are arranged radially at intervals of ninety degrees.
PCT/CN2020/083271 2020-04-03 2020-04-03 Anti-collision protection device for smart robot WO2021196180A1 (en)

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