CN106625609A - Anti-collision structure and robot - Google Patents
Anti-collision structure and robot Download PDFInfo
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- CN106625609A CN106625609A CN201710079519.7A CN201710079519A CN106625609A CN 106625609 A CN106625609 A CN 106625609A CN 201710079519 A CN201710079519 A CN 201710079519A CN 106625609 A CN106625609 A CN 106625609A
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- pole
- robot
- inductive switch
- rotary part
- switch
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- 230000001939 inductive effect Effects 0.000 claims description 97
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 37
- 230000000694 effects Effects 0.000 claims description 14
- 239000000523 sample Substances 0.000 claims description 10
- 230000009467 reduction Effects 0.000 claims description 2
- 238000009987 spinning Methods 0.000 claims description 2
- 230000004044 response Effects 0.000 abstract description 12
- 230000006698 induction Effects 0.000 abstract description 8
- 230000002035 prolonged effect Effects 0.000 abstract 1
- 239000000463 material Substances 0.000 description 11
- 230000006378 damage Effects 0.000 description 10
- 230000001960 triggered effect Effects 0.000 description 10
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- 238000005516 engineering process Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
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- 238000010586 diagram Methods 0.000 description 6
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- 238000001514 detection method Methods 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
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- 208000014674 injury Diseases 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
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- 238000013461 design Methods 0.000 description 1
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- 230000005611 electricity Effects 0.000 description 1
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- 238000012423 maintenance Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the invention discloses an anti-collision structure and a robot. The anti-collision structure comprises an induction switch, a rotary component and an elastic component; a first strut is arranged on the rotary component; one end of the elastic component is fixed, and the other end of the elastic component is in linkage with the rotary component; when the rotary component rotates when bearing the action of external collision force, the first strut enters the sensing area of the induction switch and triggers the induction switch, so that the induction switch generates a collision signal. When the external collision force disappears, the rotary component rotationally resets under the action of the reset force of the elastic component. Correspondingly, the robot adopting the anti-collision structure is provided. According to the technical scheme, the robot can be helped to make a corresponding response when a collision occurs, the influence of the collision on the robot is effectively reduced, and the service life of the robot is prolonged. The anti-collision structure is easy and convenient to mount, suitable for robots of various types and also suitable for bodies in other fields.
Description
Technical field
The embodiment of the present invention belongs to robotics, specifically, is related to a kind of crash structure and robot.
Background technology
With developing rapidly for modern science and technology, the range of application of intelligent robot is more and more extensive, either in family, or
The public places such as market, bank can see the figure of intelligent robot.
During the use of intelligent robot, it is to avoid not be exactly to collide with other objects, especially can be with
Mobile robot, if larger with the dynamics that other objects collide, gently then only may can cause robot shells
Damage, inside that is heavy then causing robot is broken down, affect the use of robot.
The content of the invention
In view of this, the embodiment of the present invention provides a kind of crash structure and robot, is being touched with reducing robot
What is be subject to when hitting affects, and extends the service life of robot.
To solve technical problem of the prior art, a kind of crash structure is embodiments provided, including：Sensing
Switch, rotary part and elastomeric element；
The rotary part is provided with the first pole；
One end of the elastomeric element is fixed, and the other end is interlocked with the rotary part；
When being rotated by the effect of external impact power, first pole enters the sensing to the rotary part
The sensing region of switch simultaneously triggers the inductive switch, so that the inductive switch generates collision alarm；
When the external impact power disappears, rotary part rotation under the restoring force effect of the elastomeric element is multiple
Position.
Alternatively, also include：Switch base, for providing fixed support for the inductive switch；
The switch base is provided with slot；
The inductive switch is plugged in the slot, is connected with the switch base.
Alternatively, the slot is T-slot；
The inductive switch includes：Connecting bottom board and the inductive probe being arranged on the connecting bottom board；
The connecting bottom board inserts the T-slot, and the inductive probe is stretched out by the notch of the T-slot.
Alternatively, also include：Pedestal；
Fix bar is provided with the pedestal；
The rotary part is set in the fix bar, with when being acted on by external impact power around the fix bar
Axis rotation；
One end that the elastomeric element is fixed is fixed on the pedestal；
The other end of the elastomeric element is connected with first pole；
The inductive switch is arranged on the pedestal.
Alternatively, also include：Second pole；
Second pole is arranged on the rotary part；
Second pole is vertical with the rotary shaft of the rotary part；
External impact thing is collided after second pole, drives the rotary part to revolve by second pole
Turn.
Alternatively, first pole and second pole are oppositely arranged.
Alternatively, second pole is provided with guiding parts away from one end of the rotary part；
The guiding parts includes SDeflector or directive wheel.
Alternatively, also including limiting component, the limiting component is used to limit the initial position of second pole.
Correspondingly, the embodiment of the present invention additionally provides a kind of robot, including：
It is arranged on the crash structure as described in above-mentioned any one of at least one in the robot；
Inductive switch in the crash structure is coupled with the robot.
Alternatively, also include：Shell；
The shell is arranged on the periphery of the crash structure, so that the crash structure is in the shell and institute
State between robot.
Technical scheme provided in an embodiment of the present invention, by arranging inductive switch, can be when colliding because of rotary part
Rotation causes the first pole to be triggered into the sensing region of inductive switch, and inductive switch can generate collision letter after being triggered
Number so that receiving the electronic equipment of the collision alarm can make corresponding driving response according to the collision alarm, and then reduce
Collide the injury to being provided with the equipment of anti-collision structure, the service life of extension device；Additionally, skill provided in an embodiment of the present invention
Art scheme, simple structure is easy for installation, it is adaptable to robot or other various movable equipments.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are these
Some embodiments of bright embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, also
Other accompanying drawings can be obtained according to these accompanying drawings.
Accompanying drawing described herein is used for providing further understanding the embodiment of the present invention, constitutes the embodiment of the present invention
A part, the schematic description and description of the embodiment of the present invention is used to explain the embodiment of the present invention, does not constitute to this
The improper restriction of bright embodiment.
In the accompanying drawings：
Fig. 1 is the structural representation of the crash structure of the embodiment of the present invention；
Fig. 2 is the inductive switch of the embodiment of the present invention and the structural representation of switch base；
Fig. 3 is the decomposition texture schematic diagram of the crash structure of the embodiment of the present invention；
Fig. 4 is the structural representation of the rotary part of the embodiment of the present invention；
Fig. 5 is another structural representation of the rotary part of the embodiment of the present invention；
Fig. 6 is another structural representation of the crash structure of the embodiment of the present invention；
Fig. 7 is another decomposition texture schematic diagram of the crash structure of the embodiment of the present invention；
Fig. 8 is the use state schematic diagram of the anti-collision structure of the embodiment of the present invention；
Fig. 9 is another use state schematic diagram of the anti-collision structure of the embodiment of the present invention.
Description of the drawings
10：Inductive switch；11：Connecting bottom board；12：Inductive probe；
20：Rotary part；21：First pole；22：Second pole；23：Guiding parts；
30：Elastomeric element；
40：Switch base；41：Slot；42：Notch；
50：Pedestal；51：Fix bar；52：It is raised；
60：Limiting component；
70：Crash structure；71：Shell.
Specific embodiment
To make purpose, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the embodiment of the present invention, rather than the embodiment of whole.Based on the embodiment in the embodiment of the present invention, this area
The every other embodiment that those of ordinary skill is obtained under the premise of creative work is not made, belongs to enforcement of the present invention
The scope of example protection.
Inventor realize the present invention during find, at present, many mobile robots in use, shell
Always can be damaged by different degrees of, some service life is very short.It is that barrier is being encountered by robot to trace it to its cause, and is touched
The reaction do not evaded after hitting, so as to cause the impact being subject in collision process very big, gently then causes outside robot
The damage of shell, internal part that is heavy then causing robot breaks down, and affects the use of robot.Conventional anticollision device, collision-prevention device has electricity
Minor and mechanical.In actual use, inventor has found that the safety anticollision system of electronic type typically passes through multiple laser
Sensor group is highly susceptible to the use environment of complexity and disturbed into, this kind of safety anticollision system, and there is product mistake
The possibility of effect, easily causes the generation of security incident；And mechanical CAS typically only possesses front and/or rear
Single-degree-of-freedom buffer gear, it is impossible to bear the lateral impact with angle, or due to the restriction of material, the scope of its buffering without
Method leaves enough braking distances to AGV (Automated Guided Vehicle, automatical pilot transportation vehicle), so that AGV
Cause to damage, it is impossible to meet the use requirement of client well, and the anticollision device, collision-prevention device Jing of simple mechanical formula is often collided and is caused table
There is a difficult problem for a large amount of indentures or damage in face.
Therefore, it is to solve defect of the prior art, the embodiment of the present invention provides a kind of crash structure and robot, subtracts
What Shao Liao robots were subject to when colliding affects, and extends the service life of robot.
The embodiment of the embodiment of the present invention is described in detail below in conjunction with drawings and Examples, thereby to of the invention real
Apply such as what application technology means solve technical problem and reach technology effect realize that process can fully understand and reality according to this
Apply, the structure of the present invention is described further below in conjunction with accompanying drawing.
Embodiment 1：
Fig. 1 is the structural representation of the crash structure of the embodiment of the present invention, as shown in Figure 1：
A kind of crash structure is embodiments provided, including：Inductive switch 10, rotary part 20 and elastomeric element
30.Wherein, rotary part 20 is provided with the first pole 21；One end of elastomeric element 30 is fixed, and the other end connects with rotary part 20
It is dynamic；When being rotated by the effect of external impact power, the first pole 21 enters the sensing of inductive switch 10 to rotary part 20
Inductive switch 10 is simultaneously triggered in region, so that inductive switch 10 generates collision alarm；When outside impact force disappears, rotary part 20
The spinning reduction under the restoring force effect of elastomeric element 30.In the specific implementation, crash structure combines body (robot)
Rise and use, crash structure is arranged on body, inductive switch 10 is coupled with body, rotary part 20 rotatably connects with body
Connect, one end of elastomeric element 30 is fixed on body, and the other end is connected with rotary part 20.When colliding, rotary part
20 by the effect of external impact power being rotated, the first pole 21 in moving process, into the sensing of inductive switch 10
Inductive switch 10 is simultaneously triggered in region, and inductive switch 10 generates collision alarm and collision alarm sent to body, so as to body root
Corresponding response is made according to collision alarm.
Elastomeric element 30 is deformed upon in the rotation process of rotary part 20, and the deformation of elastomeric element 30 produces the anti-of impact force
Active force, so that rotary part 20 resets.Elastomeric element 30 includes but is not limited to tension spring, compression spring, torsion bullet
Spring, elastic rubber etc..By taking torque spring as an example, one end of torque spring is fixedly connected, and the other end is connected with rotary part 20, when
When rotary part 20 is rotated, torque spring applies active force opposite to the direction of rotation to rotary part 20, so that
Rotary part 20 resets.Elastomeric element 30 in Fig. 1 is tension spring, when rotary part 20 is rotated, elastomeric element 30
It is stretched and deforms upon, be applied to the restoring force opposite to the direction of rotation of rotary part 20, so that rotary part 20 resets.
Technical scheme provided in an embodiment of the present invention, by arranging inductive switch 10, can be when colliding because of rotating part
Part 20 rotates and the first pole 21 is triggered into the sensing region of inductive switch 10, and inductive switch 10 can give birth to after being triggered
Into collision alarm, and the collision alarm of generation is sent to electronic equipment (body) so that receive the electronics of the collision alarm
Equipment can make corresponding driving and respond according to the collision alarm, and then reduce the wound collided to being provided with the equipment of anti-collision structure
Evil, the service life of extension device；Additionally, technical scheme provided in an embodiment of the present invention, simple structure is easy for installation, is suitable for
In robot or other various movable equipments.
Crash structure provided in an embodiment of the present invention is described in detail further below.
Inductive switch 10 includes but is not limited to magnetic induction switch, photoelectric sensor switch in the embodiment of the present invention.When sensing is opened
Close 10 be magnetic induction switch when, can produce magnetic induction between the first pole 21 and inductive switch 10, when the first pole 21 it is close
Or during away from inductive switch 10, inductive switch 10 can be triggered.When inductive switch 10 is photoelectric sensor switch, the first pole 21
Into after the sensing region of photoelectric sensor switch, the light beam of photoelectric sensor switch is blocked or reflected, hinder optoelectronic induction
The communication of itself is switched, so as to trigger to photoelectric sensor switch.
Fig. 2 is the inductive switch 10 of the embodiment of the present invention and the structural representation of switch base 40, referring to Fig. 1 and Fig. 2, this
In bright embodiment, crash structure may also include：Switch base 40, for providing fixed support for inductive switch 10.Switch base 40
Slot 41 is provided with, inductive switch 10 is plugged in slot 41, is connected with switch base 40.Switch base 40 is provided for inductive switch 10
Support and fix.In the specific implementation, there is inductive switch 10 independently-powered line to be powered for inductive switch.
Alternatively, in embodiments of the present invention, the independently-powered line of inductive switch 10 can be dispensed, by switch base
40 are powered for inductive switch.Switch base 40 is circuit board, and the switch base 40 of such switch base 40 may be used for inductive switch
10 provide operating voltages and realize inductive switch 10 with other equipment or communication.Switch base 40 is carried for inductive switch 10
While for supporting, realize that inductive switch 10 communicates with the electrical connection and realization of body by switch base 40.
Alternatively, the slot 41 on switch base 40 is T-slot (as shown in Figure 3) to the present invention.Inductive switch 10 includes connection
Base plate 11 and the inductive probe 12 being arranged on connecting bottom board 11, connecting bottom board 11 is inserted in T-slot, inductive probe 12 with even
Connect base plate 11 to connect and stretch out from by the notch 42 of T-slot.Wherein, the first pole 21 passes through sense when there is relative movement
Should be popped one's head in 12 triggering inductive switches 10.
Inductive switch 10 is directly inserted in slot 41 by connecting bottom board 11, with realize inductive switch 10 and switch base 40 it
Between connection, connected mode is simple to operation, when inductive switch 10 breaks down, can easily be changed or
Maintenance.The inductive probe 12 of inductive switch 10 stretches out from the notch 42 of inductive switch 10, the convenient sensing to the first pole 21.Sense
Should pop one's head in and 12 be at least one, in fig. 2, inductive probe 12 is two, the first pole 21 through two inductive probes 12 it
Between during, trigger inductive switch 10.
Crash structure is used together with reference to body (robot), need by all parts of crash structure respectively with machine
Body is attached, and operates cumbersome.It is that crash structure is realized into integration referring to Fig. 1, in the present invention, alternatively, also wraps
Include：Pedestal 50；Inductive switch 10 is arranged on pedestal 50；Rotary part 20 is rotatably connected with pedestal 50；Elastomeric element 30 is consolidated
Fixed one end is fixedly connected on pedestal 50, and the other end is connected with the first pole 21 on rotary part 20.
The all parts of crash structure are separately positioned on pedestal 50, crash structure is formed into one by pedestal 50
Individual entirety, then be attached by pedestal 50 and body so that body is simplified with the connection of crash structure.It is being embodied as
When, referring to Fig. 3, switch base 40 can be structure as a whole with pedestal 50, it is also possible to separate.Spiral shell is provided with switch base 40
Hole, screw is used for connecting screw.When switch base 40 and pedestal 50 are structure as a whole, inductive switch 10 is connected it with switch base 40
Afterwards, screw is connected with screw, and the nut of screw can block inductive switch 10, prevents inductive switch 10 from taking off from switch base 40
From.In the case that the material of pedestal 50 is steel plate or other rigid materials, be integrally formed in technique it is more difficult, therefore
Can select for switch base 40 and pedestal 50 to carry out independent design.When switch base 40 and pedestal 50 are separate, inductive switch
After 10 are connected with switch base 40, switch base 40 is connected by screw with pedestal 50, while the nut of screw will can sense
Switch 10 is blocked, and prevents inductive switch 10 from departing from from switch base 40.
When rotary part 20 is rotatably connected with pedestal 50, with continued reference to Fig. 3, fix bar 51 is provided with pedestal 50, is revolved
Rotation member 20 is provided with tubular structure；Rotary part 20 is set in fix bar 51 by tubular structure, to be touched by outside
Axis when hitting the effect of power around fix bar 51 rotates.
When rotary part 20 is socketed in fix bar 51 by tubular structure, carried out by limited screw it is spacing, wherein
The height of the tubular structure of rotary part 20 is slightly less than the height of fix bar 51 so that rotary part 20 can be with up and down solid
It is scheduled in fix bar 51.In the specific implementation, screw is provided with fix bar 51, rotary part 20 is socketed in by tubular structure
After in fix bar 51, then by screw connection in screw, tubular structure is blocked by the nut of screw, prevent rotary part 20
Come off from fix bar 51.The crash structure for completing to install may refer to Fig. 1.
The connected mode of a kind of rotary part 20 and pedestal 50 is still further provides in the embodiment of the present invention, is set on pedestal 50
Fixed cylinder is equipped with, the track for the movement of the first pole 21 is provided with fixed cylinder.Rotary part 20 is provided with rod-like structure,
Rod-like structure is socketed in fixed cylinder, to realize being rotatably connected for rotary part 20 and pedestal 50.
In the specific implementation, after rod-like structure is socketed in fixed cylinder, by screw connection in fixed cylinder, by screw
Nut blocks rod-like structure, prevents pole from coming off from fixed pole.
Fig. 4 is the structural representation of the rotary part 20 of the embodiment of the present invention, as shown in Figure 4：
When receive impact force and triggering inductive switch 10 all by a pole to complete when, inductive switch 10 can be arranged on and lean on
The position of nearly pole.If impact force is larger, inductive switch 10 is highly susceptible to damage.Damaged to reduce inductive switch 10
Bad probability, in the embodiment of the present invention, alternatively, crash structure also includes：Second pole 22；Second pole 22 is arranged on rotation
On rotation member 20；Second pole 22 is vertical with the rotary shaft of rotary part 20；External impact thing is collided after the second pole 22, by
Second pole 22 is rotated part 20 and rotates.
When the second pole 22 is provided with rotary part 20, the second pole 22 is used for directly contact impact force, so as to send out
Raw deformation.First pole 21 rotates under the drive of the second pole 22, and inductive switch 10 is triggered in rotation process.
It is so that easy to connect, connecting hole to be provided with the first pole 21 referring to Fig. 3 and Fig. 4, is provided with pedestal 50
Raised 52, one end of elastomeric element 30 is connected by connecting hole with the first pole 21, and the other end is socketed on raised 52, works as elasticity
Part 30 can be easy to be changed when damaging.
With continued reference to Fig. 4, to prevent interfering between the first pole 21 and the second pole 22, therefore, the present invention is real
Apply in example alternatively, the first pole 21 and the second pole 22 are oppositely arranged.First pole 21 is relative with what the second pole 22 was arranged
Farther out, interfering between the first pole 21 and the second pole 22 can be effectively prevented from, it is ensured that the first pole 21 is in triggering
It is more accurate during inductive switch 10.
With continued reference to Fig. 4, in order to reduce damage of the impact force to the second pole 22, in embodiments of the present invention, alternatively,
Second pole 22 is provided with guiding parts 23 away from one end of rotary part 20；Guiding parts 23 includes SDeflector or directive wheel.
When the second pole 22 is collided power, local collision power can be disperseed by guiding parts 23, effectively reduce and touch
Hit damage of the power to the second pole 22.When the second pole 22 is collided power, by the spherical structure of SDeflector or lead
To the roller of wheel, the dispersion of local collision power is fallen, impact of the impact force to the second pole 22 is reduced, so as to extend second
The service life of bar 22.
It is the body with reference to different structure, the form of the second pole 22 is also multifarious, the second pole 22 in Fig. 4 is
The second pole 22 with cambered structure, the second pole 22 can be the shapes such as S-shaped, half arc；The second pole 22 is straight in Fig. 5
Rod-shape.The crash structure of the second pole 22 with multi-form can play anticollision with reference to the body of different structure
Effect.Crash structure in Fig. 6 and Fig. 7 is exactly the second pole 22 for employing straight-bar form.
The position of the body requirement anticollision of different structure also can differ, in order to meet the position of different anticollisions,
The initial position for limiting the second pole 22 is needed, referring to Fig. 1, Fig. 3, Fig. 6 and Fig. 7, during the present invention is implemented, alternatively, is also wrapped
Limiting component 60 is included, limiting component 60 is used to limit the initial position of the second pole 22.
In the specific implementation, the initial position of the second pole 22 is set by limiting component 60, meanwhile, impact force disappears
When, elastomeric element 30 is resetted the second pole 22, causes the second pole 22 to be reset to initial position by limiting component 60.
Embodiment 2
Fig. 8 is the use state schematic diagram of the anti-collision structure of the embodiment of the present invention, and Fig. 9 is tied for the anticollision of the embodiment of the present invention
Another use state schematic diagram of structure, as shown in Figure 8 and Figure 9：
Correspondingly the embodiment of the present invention additionally provides a kind of robot, including：
The crash structure 70 being arranged in robot at least one such as embodiment 1, the sense in crash structure 70
Inductive switch is coupled with robot.Not shown in robot figure.
Crash structure 70 in embodiment 1 is arranged in robot, the position of setting can be that robot easily occurs
The position of collision.It is anticollision detection components to define part in addition to pedestal 50 in crash structure first, anticollision detection components
Include inductive switch 10, rotary part 20, elastomeric element 30 and switch base 40 etc..As shown in Figure 8 and Figure 9, multiple anticollisions
Detection components are arranged on pedestal 50, and pedestal 50 is loop configuration, and the quantity of anticollision detection components is at least three, arrangement mode
According to circumference mean array, it is ensured that running into barrier in all directions can detect.Pedestal in multiple crash structures 70
An entirety is connected as, is connected with robot by pedestal 50, the inductive switch in each crash structure 70 and robot coupling
Connect.
When colliding, rotary part is rotated in the presence of outside impact force, and the first pole is in moving process
Middle triggering inductive switch, inductive switch generates collision alarm and collision alarm is sent to robot, and robot receives collision letter
After number, corresponding response is made according to collision alarm, so as to reduce damage of the impact force to robot, play avoiding barrier
Effect.It should be noted that when receiving different inductive switches transmission collision alarms, robot can be according to different inductive switches
Position make different responses.
For example, the collision alarm that front inductive switch sends, the response of robot is the sound for stopping, retreating, turn to
Should；The collision alarm that rear inductive switch sends, the response of robot is the response for accelerating, turning to；Both sides inductive switch sends
Collision alarm, robot response for turn to response；Etc.
It should be noted that robot is many to the response mode of collision alarm, the present invention is not specifically limited.
With continued reference to Fig. 8 and Fig. 9, in order to not affect the outward appearance of robot, in the present invention alternatively, also include：Shell 71；
Shell 71 is arranged on the periphery of crash structure 70, so that crash structure 70 is between shell 71 and the robot.
When being embodied as, shell 71 is arranged on pedestal 50, is provided with limited post on pedestal 50, shell 71 by with its
Integrally formed spacing collar is fixed on limited post, and carries out the fixation of vertical direction by limited screw, wherein, limit
The height of position sleeve is slightly less than the height of limited post so that shell 71 is fixed on pedestal 50 in vertical direction floating ground, spacing
External diameter of the internal diameter of sleeve slightly larger than limited post so that shell 71 is subject to leave certain displacement leeway during lateral impact.Shell
71 can be found in Fig. 3,6,7 with the connected mode of pedestal 50.
Shell 71 can be integrative-structure as shown in figs. 8 and 9, and a shell 70 is complete by multiple crash structures 70
Portion is enclosed between shell 71 and robot.The position and quantity that crash structure 70 can also be respectively directed to carries out segmentation and sets
Put, i.e. the periphery of each crash structure 70 is provided with an independent shell 71.Meanwhile, the material of shell 71 can be
Have resilient material, or common material, can reach the effect of anticollision.When the material of shell 71 is elastic material
During material, during the power that is collided, transmission impact force can be carried out by deforming upon.When the material of shell 71 is common material, receive
During to impact force, transmission impact force can be carried out by being subjected to displacement.
Shell 71 covers on crash structure 70 between shell 71 and robot, the color and material of shell 71 can be with
The color and material of robot is same or like, can not so affect the outward appearance of robot.When colliding, shell 71
The effect of ground floor protection is served, when shell 71 is deformed upon or during displacement by excessive impact force, impact force is delivered to
Anticollision part 70, so as to trigger inductive switch.
Crash structure 70 in the present invention can also be answered in addition to it may apply on removable body (robot)
Use on non-moving body, play a part of to wake up or start.For example, a non-moving robot, touches when there is external force
When, cause inductive switch to have issued collision alarm in the presence of impact force, non-moving robot can be according to collision alarm quilt
Wake up or open.
Application scenarios
Below application uses scene, and technical scheme provided in an embodiment of the present invention is described in detail：
Scene one
Mobile robot avoiding barrier, it is as follows：
Multiple crash structures are provided with mobile robot body, shell are provided with outside crash structure,
Second pole of crash structure is contacted by guiding parts with shell.
In moving process, after encountering barrier, the shell power that is collided is deformed upon for robot, causes the second pole to be sent out
Raw relative displacement.Part rotation is rotated in the presence of the second pole, the first pole interlocks, the triggering sense of the first pole
Inductive switch.Inductive switch generates collision alarm, sends to robot.Robot is received after collision alarm, make stopping it is mobile or
Person changes direction etc. and evades reaction.
Scene two
Non-moving robot, touching wakes up, as follows：
Multiple crash structures are provided with non-moving machine human organism, shell are provided with outside crash structure,
Second pole of crash structure is contacted by guiding parts with shell.
The shell that people pass through touching robot, the shell power that is collided is deformed upon, and causes the second pole to occur relative
Displacement.Part rotation is rotated in the presence of the second pole, the first pole interlocks, the triggering sensing of the first pole is opened
Close.Inductive switch generates collision alarm, sends to robot.Robot is received after collision alarm, makes wake-up or start etc.
Response.
In sum, the technical scheme for providing according to embodiments of the present invention, by arranging inductive switch, can collide
When because rotary part rotate cause the first pole be triggered into the sensing region of inductive switch, inductive switch can after being triggered
Generate collision alarm so that receiving the electronic equipment of the collision alarm can make corresponding driving sound according to the collision alarm
Should, and then reduce the injury collided to being provided with the equipment of anti-collision structure, the service life of extension device；Additionally, the present invention is real
The technical scheme of example offer is applied, simple structure is easy for installation, it is adaptable to robot or other various movable equipments.And pacify
Harness has disguise, does not affect robot and the overall appearance of other main bodys.Also, outside the function with avoiding barrier,
Also there is the function of waking up body, using convenient.
It should be noted that, although combine accompanying drawing the specific embodiment of the present invention is described in detail, but not
It is interpreted as the restriction to protection scope of the present invention.In the scope described by claims, those skilled in the art are not
The various modifications and deformation that Jing creative works can be made still fall within protection scope of the present invention.
The example of the embodiment of the present invention is intended to concisely illustrate the technical characterstic of the embodiment of the present invention so that art technology
Personnel can intuitively understand the technical characterstic of the embodiment of the present invention, be not intended as the improper restriction of the embodiment of the present invention.
Device embodiment described above is only schematic, wherein the unit as separating component explanation can
To be or may not be physically separate.Those of ordinary skill in the art are not paying the situation of performing creative labour
Under, you can to understand and implement.
Described above illustrates and describes some preferred embodiments of the embodiment of the present invention, but as previously mentioned, it should be understood that
The embodiment of the present invention is not limited to form disclosed herein, is not to be taken as the exclusion to other embodiment, and can be used for
Various other combinations, modification and environment, and can be in application contemplated scope described herein, by above-mentioned teaching or association area
Technology or knowledge be modified.And change that those skilled in the art are carried out and change without departing from the embodiment of the present invention spirit and
Scope, then all should be in the protection domain of embodiment of the present invention claims.
Claims (10)
1. a kind of crash structure, it is characterised in that include：Inductive switch, rotary part and elastomeric element；
The rotary part is provided with the first pole；
One end of the elastomeric element is fixed, and the other end is interlocked with the rotary part；
When being rotated by the effect of external impact power, first pole enters the inductive switch to the rotary part
Sensing region and trigger the inductive switch so that the inductive switch generate collision alarm；
When the external impact power disappears, rotary part spinning reduction under the restoring force effect of the elastomeric element.
2. structure according to claim 1, it is characterised in that also include：Switch base, for providing for the inductive switch
It is fixed to support；
The switch base is provided with slot；
The inductive switch is plugged in the slot, is connected with the switch base.
3. structure according to claim 2, it is characterised in that the slot is T-slot；
The inductive switch includes：Connecting bottom board and the inductive probe being arranged on the connecting bottom board；
The connecting bottom board inserts the T-slot, and the inductive probe is stretched out by the notch of the T-slot.
4. structure according to any one of claim 1 to 3, it is characterised in that also include：Pedestal；
Fix bar is provided with the pedestal；
The rotary part is set in the fix bar, with when being acted on by external impact power around the axle of the fix bar
Line rotates；
One end that the elastomeric element is fixed is fixed on the pedestal；
The other end of the elastomeric element is connected with first pole；
The inductive switch is arranged on the pedestal.
5. structure according to any one of claim 1 to 3, it is characterised in that also include：Second pole；
Second pole is arranged on the rotary part；
Second pole is vertical with the rotary shaft of the rotary part；
External impact thing is collided after second pole, drives the rotary part to rotate by second pole.
6. structure according to claim 5, it is characterised in that first pole and second pole are oppositely arranged.
7. structure according to claim 5, it is characterised in that second pole sets away from one end of the rotary part
It is equipped with guiding parts；
The guiding parts includes SDeflector or directive wheel.
8. structure according to claim 5, it is characterised in that also including limiting component, the limiting component is used to limit
The initial position of second pole.
9. a kind of robot, it is characterised in that include：
It is arranged on the crash structure as any one of claim 1 to 8 of at least one in the robot；
Inductive switch in the crash structure is coupled with the robot.
10. robot according to claim 9, it is characterised in that also include：Shell；
The shell is arranged on the periphery of the crash structure, so that the crash structure is in the shell and the machine
Between device people.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710079519.7A CN106625609A (en) | 2017-02-14 | 2017-02-14 | Anti-collision structure and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710079519.7A CN106625609A (en) | 2017-02-14 | 2017-02-14 | Anti-collision structure and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106625609A true CN106625609A (en) | 2017-05-10 |
Family
ID=58844818
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710079519.7A Pending CN106625609A (en) | 2017-02-14 | 2017-02-14 | Anti-collision structure and robot |
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| CN107193282A (en) * | 2017-06-16 | 2017-09-22 | 北京军立方机器人科技有限公司 | A kind of intelligent security guard robot and intelligent safety and defence system |
| CN107336267A (en) * | 2017-08-24 | 2017-11-10 | 深圳市银星智能科技股份有限公司 | Mobile robot |
| CN108247654A (en) * | 2018-02-05 | 2018-07-06 | 遨博（北京）智能科技有限公司 | A kind of control method of robot, device and system |
| CN108742347A (en) * | 2018-06-27 | 2018-11-06 | 杨扬 | Collision sensing formula clean robot |
| CN109202966A (en) * | 2017-06-29 | 2019-01-15 | 沈阳新松机器人自动化股份有限公司 | Robot collision protection shell suspended structure |
| CN109199236A (en) * | 2017-06-30 | 2019-01-15 | 沈阳新松机器人自动化股份有限公司 | Indoor hard ground cleaning robot |
| CN109758039A (en) * | 2019-01-14 | 2019-05-17 | 深圳市银星智能科技股份有限公司 | Clean robot |
| CN110934607A (en) * | 2019-11-01 | 2020-03-31 | 东软医疗系统股份有限公司 | Obstacle detection mechanism, side rail structure, scanning bed and CT equipment |
| CN111421544A (en) * | 2020-04-08 | 2020-07-17 | 方雯 | Intelligent logistics robot and electrical control system thereof |
| CN112526986A (en) * | 2020-10-28 | 2021-03-19 | 苏州极目机器人科技有限公司 | Ridge-following operation method and device |
| CN112793526A (en) * | 2021-03-01 | 2021-05-14 | 上海西井信息科技有限公司 | Energy-absorbing braking device and energy-absorbing braking method |
| CN113294664A (en) * | 2021-06-22 | 2021-08-24 | 深圳市古安泰自动化技术有限公司 | Overhauling equipment |
| CN113942038A (en) * | 2020-07-15 | 2022-01-18 | 沈阳新松机器人自动化股份有限公司 | Omnidirectional anti-collision structure for robot chassis |
| CN114587206A (en) * | 2020-12-17 | 2022-06-07 | 北京石头世纪科技股份有限公司 | Crash Sensing Unit and Cleaning Equipment |
| CN115508998A (en) * | 2022-10-28 | 2022-12-23 | 中科院南京天文仪器有限公司 | Anti-collision device and anti-collision method for dome |
| CN116175650A (en) * | 2023-03-20 | 2023-05-30 | 麦岩智能科技(北京)有限公司 | Anti-collision system for robot and robot |
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| CN106956267A (en) * | 2017-05-27 | 2017-07-18 | 上海木爷机器人技术有限公司 | Robot arm barrier-avoiding method and system |
| CN107193282A (en) * | 2017-06-16 | 2017-09-22 | 北京军立方机器人科技有限公司 | A kind of intelligent security guard robot and intelligent safety and defence system |
| CN107193282B (en) * | 2017-06-16 | 2020-07-14 | 哈工大机器人集团北京军立方科技有限公司 | Intelligent security robot and intelligent security system |
| CN109202966A (en) * | 2017-06-29 | 2019-01-15 | 沈阳新松机器人自动化股份有限公司 | Robot collision protection shell suspended structure |
| CN109202966B (en) * | 2017-06-29 | 2021-09-14 | 沈阳新松机器人自动化股份有限公司 | Robot collision protective housing suspension structure |
| CN109199236A (en) * | 2017-06-30 | 2019-01-15 | 沈阳新松机器人自动化股份有限公司 | Indoor hard ground cleaning robot |
| CN107336267B (en) * | 2017-08-24 | 2023-11-17 | 深圳银星智能集团股份有限公司 | Mobile robot |
| CN107336267A (en) * | 2017-08-24 | 2017-11-10 | 深圳市银星智能科技股份有限公司 | Mobile robot |
| CN108247654A (en) * | 2018-02-05 | 2018-07-06 | 遨博（北京）智能科技有限公司 | A kind of control method of robot, device and system |
| CN108742347A (en) * | 2018-06-27 | 2018-11-06 | 杨扬 | Collision sensing formula clean robot |
| CN109758039A (en) * | 2019-01-14 | 2019-05-17 | 深圳市银星智能科技股份有限公司 | Clean robot |
| CN110934607A (en) * | 2019-11-01 | 2020-03-31 | 东软医疗系统股份有限公司 | Obstacle detection mechanism, side rail structure, scanning bed and CT equipment |
| CN110934607B (en) * | 2019-11-01 | 2023-05-02 | 东软医疗系统股份有限公司 | Obstacle detection mechanism, side rail structure, scanning bed and CT equipment |
| CN111421544A (en) * | 2020-04-08 | 2020-07-17 | 方雯 | Intelligent logistics robot and electrical control system thereof |
| CN111421544B (en) * | 2020-04-08 | 2022-05-17 | 湖北思大工业科技有限公司 | Intelligent logistics robot and electrical control system thereof |
| CN113942038A (en) * | 2020-07-15 | 2022-01-18 | 沈阳新松机器人自动化股份有限公司 | Omnidirectional anti-collision structure for robot chassis |
| CN112526986B (en) * | 2020-10-28 | 2022-11-22 | 苏州极目机器人科技有限公司 | Ridge-following operation method and device |
| CN112526986A (en) * | 2020-10-28 | 2021-03-19 | 苏州极目机器人科技有限公司 | Ridge-following operation method and device |
| CN114587206A (en) * | 2020-12-17 | 2022-06-07 | 北京石头世纪科技股份有限公司 | Crash Sensing Unit and Cleaning Equipment |
| CN114587206B (en) * | 2020-12-17 | 2025-11-11 | 北京石头世纪科技股份有限公司 | Collision sensing unit and cleaning device |
| CN112793526A (en) * | 2021-03-01 | 2021-05-14 | 上海西井信息科技有限公司 | Energy-absorbing braking device and energy-absorbing braking method |
| CN112793526B (en) * | 2021-03-01 | 2025-07-08 | 上海西井科技股份有限公司 | Energy-absorbing braking device and energy-absorbing braking method |
| CN113294664A (en) * | 2021-06-22 | 2021-08-24 | 深圳市古安泰自动化技术有限公司 | Overhauling equipment |
| CN115508998A (en) * | 2022-10-28 | 2022-12-23 | 中科院南京天文仪器有限公司 | Anti-collision device and anti-collision method for dome |
| CN115508998B (en) * | 2022-10-28 | 2025-07-11 | 中科院南京天文仪器有限公司 | Anti-collision device and anti-collision method for dome |
| CN116175650A (en) * | 2023-03-20 | 2023-05-30 | 麦岩智能科技(北京)有限公司 | Anti-collision system for robot and robot |
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Application publication date: 20170510 |