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WO2019041073A1 - Robot anticollision - Google Patents

Robot anticollision Download PDF

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Publication number
WO2019041073A1
WO2019041073A1 PCT/CN2017/099214 CN2017099214W WO2019041073A1 WO 2019041073 A1 WO2019041073 A1 WO 2019041073A1 CN 2017099214 W CN2017099214 W CN 2017099214W WO 2019041073 A1 WO2019041073 A1 WO 2019041073A1
Authority
WO
WIPO (PCT)
Prior art keywords
plate
robot
collision
elastic column
movable plate
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/099214
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English (en)
Chinese (zh)
Inventor
刘哲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to PCT/CN2017/099214 priority Critical patent/WO2019041073A1/fr
Publication of WO2019041073A1 publication Critical patent/WO2019041073A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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 a robot protection device, in particular to an anti-collision robot.
  • a robot is a machine that automatically performs work. It can accept human command, run pre-programmed procedures, or act on principles that are based on artificial intelligence techniques. Its mission is to assist or replace the work of human work, such as production, construction, or dangerous work.
  • the evaluation criteria of robot ability include: intelligence, refers to feeling and perception, including memory, operation, comparison, identification, judgment, decision, learning and logical reasoning; function, refers to flexibility, versatility or space possession; physical energy, Finger force, speed, reliability, combination and life, etc.
  • intelligence refers to feeling and perception, including memory, operation, comparison, identification, judgment, decision, learning and logical reasoning
  • function refers to flexibility, versatility or space possession
  • physical energy Finger force, speed, reliability, combination and life, etc.
  • the object of the present invention is to provide an anti-collision robot, which solves the above-mentioned background art and proposes that the existing robot has a large multi-function single and does not have the effect of anti-collision. For example, a collision such as a collision or a fall is very easy to damage, and the stability can be compared. Poor question.
  • an anti-collision robot includes a robot body and a protection device body disposed on the robot body, and a bottom plate is connected below the protection device body, and a bottom surface of the bottom plate
  • a telescopic arm is disposed, and an end of the telescopic arm is provided with a sensor, a support palm is fixed on the bottom of the sensor, a card holder is disposed on the bottom of the bottom plate, and a base is embedded in the surface of the card seat.
  • An elastic column is attached to the top of the base, and the surface of the elastic column A connecting rod is fixed, and the other end of the connecting rod is welded with a force plate, the surface of the force plate is provided with a silicone pad, and the movable plate is mounted on the right side of the elastic column, and the two ends of the movable plate are connected
  • the surface of the push plate is connected with a hydraulic column, and an alarm is installed above the hydraulic column, and the surface of the baffle is provided with two bayonet ports.
  • the force receiving plate is fixedly connected to the connecting rod, and the surface of the force receiving plate is closely attached to the silicone pad.
  • the elastic column is movably connected to the movable plate, and the movable plate is fixedly connected with the buffer spring.
  • the inductive alarm device is connected to the baffle through a hydraulic column, and the alarm device is electrically connected to the push plate.
  • the bayonet is provided with two, and the bayonet is tightly welded with the baffle.
  • the support palm is fixedly connected to the inductor, and the telescopic arm is signally connected to the inductor.
  • the utility model has the beneficial effects that the anti-collision robot is provided with a force plate and a silicone pad, and the force plate is fixedly connected with the connecting rod, and the surface of the force plate and the silicone pad Closely fit, when the robot is impacted, the force surface is a force plate, and the surface of the force plate of the device is provided with a layer of silicone pad.
  • the material of the silicone material has resilience, and the impact force can be buffered by resilience, and the device is prevented. Damaged with the impactor, which improves the safety and usability of the device, the elastic column is movably connected to the movable plate, the movable plate is fixedly connected with the buffer spring, and the robot is subjected to excessive force and passes through the force plate.
  • the elastic column pushes the movable plate to squeeze the buffer spring to fully buffer the remaining impact force, thereby making the device more secure and stable.
  • the inductive alarm device and the baffle being connected by a hydraulic column, the alarm and the push
  • the elastic column pushes the movable plate to contact the induction alarm device, thereby pushing the push plate to retract the hydraulic column, and then pressing the alarm device to alarm, reminding the worker that the robot is subjected to severe impact, thereby preventing The robot is damaged by secondary impact or multiple impacts, which reduces the occurrence of impact accidents from the source and improves the functionality of the device.
  • the bayonet is provided with two, and the bayonet is tightly welded with the baffle, the bayonet
  • the slide rails connected to the surface of the robot can slide the orientation of the device by the slide rails to prevent the damage caused by the collision of the various positions, thereby improving the usability and safety of the device, and the support palm is fixedly connected with the inductor.
  • the telescopic arm is connected to the sensor signal, and the device is provided with a telescopic arm to prevent the robot from falling to the ground.
  • the telescopic arm is normally retracted and retracted. When the sensor senses that the center of gravity of the robot is unstable, it is exposed. On the ground, the telescopic arm will pop out and propp it up by the support palm, so that the robot can return to the normal state, thus making the device safe. Increased dramatically and convenience.
  • FIG. 1 is a schematic view showing the overall structure of a protection device of the present invention
  • FIG. 2 is a schematic structural view of an inductive alarm device according to the present invention.
  • protective device body 2, bottom plate, 3, card holder, 4, base, 5, force plate, 6, silicone pad, 7, connecting rod, 8, elastic column, 9, movable plate, 10
  • Induction alarm device 1001, push plate, 1002, hydraulic column, 1003, alarm, 11, buffer spring, 12, bayonet, 13, baffle, 14, roller, 15, telescopic arm, 16, sensor, 17, support the palm.
  • the present invention provides an anti-collision robot, including a robot body (not shown), 1, a protection device body, 2, a bottom plate, 3, a card holder, 4, a base, 5, a force plate 6, silicone pad, 7, connecting rod, 8, elastic column, 9, movable board, 10, induction alarm device, 1001, push plate, 1002, hydraulic column, 1003, alarm, 11, buffer spring, 12, card Mouth, 13, baffle, 14, roller, 15, telescopic arm, 16, sensor, 17, support palm.
  • a robot body not shown
  • a bottom plate 2 is connected to the lower surface of the protection device main body 1.
  • a telescopic arm 15 is mounted on the lower bottom surface of the bottom plate 2.
  • the end of the telescopic arm 15 is provided with a sensor 16, and a support palm 17 is fixed below the inductor 16.
  • the device is provided with a telescopic arm 15 which is normally retracted and retracted.
  • the sensor 16 senses that the center of gravity of the robot is unstable, the telescopic arm 15 will pop up when it touches the ground. And supporting the palm 17 to support it, so that the robot returns to the normal state, thereby greatly improving the safety and convenience of the device.
  • the bottom plate 2 is provided with a card holder 3, and the surface of the card holder 3 is embedded with a base.
  • the base 4 is connected with an elastic column 8 above the base 4, the surface of the elastic column 8 is fixed with a connecting rod 7, and the other end of the connecting rod 7 is welded with a force receiving plate 5, and the force receiving plate 5 is welded.
  • the surface of the device is provided with a silicone pad 6. When the robot is impacted, the force receiving surface is a force receiving plate 5.
  • the surface of the force receiving plate 5 of the device is provided with a layer of silica gel pad 6.
  • the material of the silicone material has resilience and can be impacted by resilience. Most of the force buffers, and prevent devices and impactors Damage, which improves the safety and usability of the device.
  • the right side of the elastic column 8 is provided with a movable plate 9 to which both ends of the movable plate 9 are connected, and a buffer spring is fixed on the surface of the movable plate 9. 11.
  • the robot is subjected to excessive force. When there is residual impact force after being buffered by the force plate 5, the force will be effectively blocked by the elastic column 8, and then the elastic column 8 pushes the movable plate 9 to compress the buffer spring 11 to cause residual impact.
  • the force is all buffered and deflated, so that the device has higher safety and stability, and the robot is not easily damaged.
  • the buffer spring 11 is equipped with a baffle 13 at one end thereof, and an inductive alarm device is arranged on the inner side of the baffle 13 10, a push plate 1001 is fixed to the left side of the induction alarm device 10, a hydraulic column 1002 is connected to the surface of the push plate 1001, and an alarm device 1003 is installed above the hydraulic column 1002.
  • the elastic column 8 pushes the movable panel 9 to contact the induction alarm device 10, thereby pushing the push plate 1001
  • the hydraulic column 1002 is retracted, and then the alarm device 1003 is pressed to perform an alarm to remind the worker that the robot is subjected to severe impact, thereby preventing the robot from being damaged by secondary impact or multiple impacts, thereby reducing the occurrence of impact accidents from the source and improving the occurrence.
  • the function of the device, the surface of the baffle 13 is provided with two bayonet 12, the bayonet 12 is connected to the slide rail of the robot surface, and the device can be self-sliding by the slide rail to prevent the collision of the various positions. Damage improves the usability and safety of the device.
  • the overall structure of the device should be briefly understood. Then, the device is fixed to the robot surface through the bayonet 12, and the bayonet 12 is connected to the sliding rail of the robot surface. The orientation of the device can be slid by the slide rails to prevent the damage caused by the collision of the various positions, and the device starts to work.
  • the force receiving surface is the force receiving plate 5, and the surface of the force receiving plate 5 of the device is provided with a layer. Silicone pad 6, the silicone material has resilience, can cushion the impact force by resilience, and prevent the device and the impactor from being damaged.
  • the remaining force will be effectively blocked by the elastic column 8, and then the elastic column 8 pushes the movable plate 9
  • the squeezing buffer spring 11 fully buffers the remaining impact force, and the elastic column 8 pushes the movable plate 9 to contact the induction alarm device 10, and then pushes the push plate 1001 to retract the hydraulic column 1002, and then presses the alarm device 1003 to alarm. Remind the staff that the robot is subjected to severe impact, thus preventing the robot from being damaged by secondary impact or multiple impacts.
  • the telescopic arm 15 of the surface is normally retracted and retracted.
  • the telescopic arm 15 When the sensor 16 senses that the center of gravity of the robot is unstable, when the ground is touched, the telescopic arm 15 will pop out and support it by the support palm 17, so that the robot returns to normal.
  • the state, preventing it from falling and causing damage, is the entire working principle of the present invention.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un robot anticollision comprenant un corps de dispositif de protection (1). Une plaque inférieure (2) est raccordée au-dessous du corps de dispositif de protection (1); un bras rétractable (15) est monté sur la surface de base inférieure de la plaque inférieure (2); l'extrémité arrière du bras rétractable (15) est pourvue d'un capteur (16); une paume de support (17) est fixée au-dessous du capteur (16); un siège de serrage (3) est disposé au-dessus de la plaque inférieure (2); une base (4) est incorporée dans une surface du siège de serrage (3); une colonne élastique (8) est raccordée au-dessus de la base (4); une tige de raccordement (7) est fixée sur une surface de la colonne élastique (8); une plaque de support de force (5) est soudée sur l'autre extrémité de la tige de raccordement (7); une surface de la plaque de support de force (5) est pourvue d'un tampon de silicone (6); une plaque mobile (9) est montée sur le côté droit de la colonne élastique (8); deux extrémités de la plaque mobile (9) sont raccordées à des arbres roulants (14). Le robot anticollision est pourvu d'un dispositif antichute, la chute du robot peut être détectée à l'avance, et le robot peut être soutenu afin d'éviter de l'endommager en raison de la chute sur le sol.
PCT/CN2017/099214 2017-08-27 2017-08-27 Robot anticollision Ceased WO2019041073A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/099214 WO2019041073A1 (fr) 2017-08-27 2017-08-27 Robot anticollision

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/099214 WO2019041073A1 (fr) 2017-08-27 2017-08-27 Robot anticollision

Publications (1)

Publication Number Publication Date
WO2019041073A1 true WO2019041073A1 (fr) 2019-03-07

Family

ID=65524684

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/099214 Ceased WO2019041073A1 (fr) 2017-08-27 2017-08-27 Robot anticollision

Country Status (1)

Country Link
WO (1) WO2019041073A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07257299A (ja) * 1994-03-24 1995-10-09 Mutoh Ind Ltd 走行ロボットの衝突緩衝機構
CN2299771Y (zh) * 1996-11-21 1998-12-09 李东生 机动车防撞保险装置
CN101080339A (zh) * 2005-05-20 2007-11-28 丰田自动车株式会社 保险杠结构
CN101977798A (zh) * 2008-03-21 2011-02-16 丰田自动车株式会社 车辆后部碰撞传感器安装结构
CN205835308U (zh) * 2016-07-30 2016-12-28 衢州格森电子技术有限公司 一种多支脚防倾斜式机器人底座
CN107309909A (zh) * 2017-08-27 2017-11-03 刘哲 一种防冲撞机器人
CN107322645A (zh) * 2017-08-27 2017-11-07 刘哲 一种具有防冲撞功能的机器人保护装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07257299A (ja) * 1994-03-24 1995-10-09 Mutoh Ind Ltd 走行ロボットの衝突緩衝機構
CN2299771Y (zh) * 1996-11-21 1998-12-09 李东生 机动车防撞保险装置
CN101080339A (zh) * 2005-05-20 2007-11-28 丰田自动车株式会社 保险杠结构
CN101977798A (zh) * 2008-03-21 2011-02-16 丰田自动车株式会社 车辆后部碰撞传感器安装结构
CN205835308U (zh) * 2016-07-30 2016-12-28 衢州格森电子技术有限公司 一种多支脚防倾斜式机器人底座
CN107309909A (zh) * 2017-08-27 2017-11-03 刘哲 一种防冲撞机器人
CN107322645A (zh) * 2017-08-27 2017-11-07 刘哲 一种具有防冲撞功能的机器人保护装置

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