CN106808497A - A kind of crash structure and robot - Google Patents
A kind of crash structure and robot Download PDFInfo
- Publication number
- CN106808497A CN106808497A CN201710180077.5A CN201710180077A CN106808497A CN 106808497 A CN106808497 A CN 106808497A CN 201710180077 A CN201710180077 A CN 201710180077A CN 106808497 A CN106808497 A CN 106808497A
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- Prior art keywords
- crash
- collision
- switch
- robot
- crash element
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Classifications
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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
- B25J19/06—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
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Vibration Dampers (AREA)
Abstract
The embodiment of the invention discloses a kind of crash structure and robot, crash structure, including：Crash element, base plate, limiting component, multiple elastomeric elements and collision sense switch；Wherein, hollow bulb is provided with crash element, the inwall of hollow bulb is provided with limiting plate, and limiting plate is provided with spacing hole；Limiting component is arranged on base plate and in spacing hole；One end of each elastomeric element is connected with limiting component, and the other end of each elastomeric element is connected on the diverse location of limiting plate；Collision sense switch is arranged on crash element and base plate；When crash element is subject to external impact power, crash element is subjected to displacement, and triggers collision sense switch, so that collision sense switch generation collision alarm；When outside impact force disappears, crash element resets under the restoring force effect of elastomeric element；Correspondingly, the embodiment of the present invention additionally provides a kind of robot；The impact force of each angle can be detected, detection dead angle is effectively reduced.
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 may can only cause robot shells
Damage, inside that is heavy then causing robot is broken down, influence 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, reduces detection dead angle, effective detection
Barrier, with influenceing of reducing that robot is subject to when colliding, extends the service life of robot.
To solve technical problem of the prior art, a kind of crash structure is the embodiment of the invention provides, including：Collision
Part, base plate, limiting component, multiple elastomeric elements and collision sense switch；Wherein,
Hollow bulb is provided with the crash element, the inwall of the hollow bulb is provided with limiting plate, on the limiting plate
It is provided with spacing hole；
The limiting component is arranged on the base plate and in the spacing hole；
One end of each elastomeric element is connected with the limiting component, and the other end of each elastomeric element connects respectively
It is connected on the diverse location of the limiting plate；
The collision sense switch is arranged on the crash element and the base plate；
When the crash element is subject to external impact power, the crash element is subjected to displacement, and triggers the collision sense
Slowdown monitoring switch, so that collision sense switch generation collision alarm；
When the external impact power disappears, the crash element resets under the restoring force effect of the elastomeric element.
Alternatively, the limiting plate is provided with multiple first connecting portions；
Multiple elastomeric elements are connected to the diverse location of the limiting plate by multiple first connecting portions respectively
On.
Alternatively, the first connecting portion is arranged in the plate face of the limiting plate, or is arranged on the hole of the spacing hole
On wall.
Alternatively, the first connecting portion arrangement form is circumferential uniform.
Alternatively, the limiting component is provided with second connecting portion, and multiple elastomeric elements pass through described second respectively
Connecting portion is connected with the limiting component.
Alternatively, the collision sense part includes switch triggering part and collision sense part；
Wherein, the switch triggering part is arranged on the crash element, and the collision sense part is arranged on the base plate
On, or, the switch triggering part is arranged on the base plate, and the collision sense part is arranged on the crash element；
When the crash element is subject to external impact power, the switch triggering part triggers the collision sense part.
Alternatively, the collision sense switch includes photoelectric sensor switch, magnetic induction switch.
Alternatively, there is gap between the crash element and the base plate.
Correspondingly, a kind of robot is additionally provided in the embodiment of the present invention, including：
It is arranged on the crash structure as described in above-mentioned any one in the robot；
Collision sense switch in the crash structure is coupled with the robot.
Further optionally, the crash element in the crash structure is enclosed around the outer Monday of the robot.
Technical scheme provided in an embodiment of the present invention, an overall structure is formed by setting base plate by crash structure,
Crash element can occur relative displacement relative to base plate.Crash element is supported by limiting component with elastomeric element, can
To ensure that crash element can be to the mobile of level and reset.Integrally-built crash element is capable of detection level direction
The impact force of all directions, in the absence of detection dead angle.Occur and base plate between when by external impact power by crash element
Relative displacement, collision sense switch be triggered so that collision sense switch generation collision alarm, so as to receive the collision letter
Number equipment can according to the collision alarm make it is corresponding drive response, and then reduce equipment of the collision to being provided with anti-collision structure
Injury, the service life of extension device；By elastomeric element reset crash element, so that crash structure can continue to work
Make.Additionally, technical scheme provided in an embodiment of the present invention, simple structure is easy for installation, it is adaptable to robot or other it is various can
Mobile device.
Brief description of the drawings
In order to illustrate more clearly about 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 this hairs
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 hair
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 partial enlargement structural representation of the crash structure of the embodiment of the present invention；
Fig. 3 is the decomposition texture floor map of the crash structure of the embodiment of the present invention.
Brief description of the drawings
10：Crash element；11：Limiting plate；12：Spacing hole；13：First connecting portion；14：Switch triggering part；15：Collision sense
Survey part；
20：Limiting component；30：Elastomeric element；40：Collision sense is switched；50：Base plate.
Specific embodiment
To make the purpose, technical scheme and 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
A part of embodiment of the embodiment of the present invention, rather than whole embodiments.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 implementation of the present invention
The scope of example protection.
Inventor realize it is of the invention during find, the collision prevention device that current robot is used is broadly divided into zero
Dissipate formula and half-ring.Scattered formula include it is multiple it is scattered touch key, multiple touches the position that key is distributed in the height near ground
Put, and around robot.Half-ring is looped around week of the robot near the height on ground respectively including two U-shaped semi-rings
Enclose, half ranks forefront, half leans backward.
The problem that scattered formula device is present：1) touch key it is large number of, be distributed it is scattered, disfeature；2) touching and touching
Between there is dead angle；3) number of parts increase increases manufacture or assembly cost.
The problem that half-ring device is present：1) the adjacent gap of two semi-rings disfeatures；2) preceding semi-ring, the transition of rear semi-ring
There is dead angle in position, run into barrier and easily produce moment of torsion, be difficult to trigger the photoelectric sensor in robot body.
Therefore, to solve defect of the prior art, the embodiment of the present invention provides a kind of crash structure and robot, rule
Keep away and Dead Core Problems are detected present in prior art, effectively reduce that robot is subject to when colliding influences, and extends machine
The service life of device people.
The implementation method of the embodiment of the present invention is described in detail below in conjunction with drawings and Examples, thereby to of the invention real
Applying such as what application technology means can fully understand and reality according to this to solve technical problem and reach the implementation process of technology effect
Apply, structure of the 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 the embodiment of the invention provides, including：It is crash element 10, base plate 50, limiting component 20, many
Individual elastomeric element 30 and collision sense switch 40.
Wherein, hollow bulb is provided with crash element 10, the shape of hollow bulb includes but is not limited to circular, sector etc.,
The inwall of hollow bulb is provided with limiting plate 11, and limiting plate 11 is provided with spacing hole 12.Specifically, crash element 10 is one overall
Formula structure, it is not necessary to be spliced by multiple parts, so not existing transition portion or gap, therefore, it can detection
The impact force of horizontal all directions, in the absence of detection dead angle.The hollow bulb set on crash element 10 can be one or be
Multiple, when hollow bulb is one, is circumferentially evenly equipped with multiple limiting plates 11 with spacing hole 12, often on the inwall of hollow bulb
Spacing hole 12 on individual limiting plate 11 is at least one.When hollow bulb for it is multiple when, on the inwall of each hollow bulb at least provided with
There is a limiting plate 11 with spacing hole 12, the spacing hole 12 on each limiting plate 11 is at least one.
It is that crash structure is realized into integration, also includes in crash structure：Base plate 50, by base plate 50 by anticollision
Structure forms an entirety, then is attached by base plate 50 and body so that the connection integration of body and crash structure,
Simplify.
Limiting component 20 is arranged on base plate 50 and in spacing hole 12, the one end of limiting component 20 is fixed on base plate 50
On.One end of each elastomeric element 30 is connected with limiting component 20 in multiple elastomeric elements 30, each bullet in multiple elastomeric elements 30
The other end of property part 30 is connected on the diverse location of limiting plate 11.The elastomeric element 30 being connected on limiting plate 11
One end interlocks with limiting plate 11.In embodiments of the present invention, the quantity of the elastomeric element 30 that each limiting component 20 is connected is
Three, the line of the tie point that three elastomeric elements 30 are connected with limiting plate 11 surrounds an equilateral triangle, and limiting component 20 is
The center of equilateral triangle, to ensure the balance in normal state of limiting plate 11.When crash element 10 is subjected to displacement, bullet
Property part 30 deform upon, produce restoring force, when impact force disappears, elastomeric element 30 causes crash element 10 by restoring force
Reset.It should be noted that limiting component 20 includes but is not limited to support column, support hook etc..
Collision sense switch 40 is multiple, and collision sense switch 40 is located within hollow bulb, and collision sense switch 40 is set
On crash element 10 and base plate 50.When collision sense switch 40 is used to be triggered, collision alarm is generated.In the embodiment of the present invention
In, the collision sense switch 40 being arranged on base plate 50 is six, correspondingly, six collisions is also provided with crash element 10
Sense switch 40 is corresponding with the collision sense switch 40 on base plate 50, for example, respectively set one in the both sides of each limiting plate 11
Collision sense switch 40, so can be with the impact force of effective detection to horizontal all directions.Touched by outside in crash element 10
When hitting power, crash element 10 is subjected to displacement, and triggering part collision sense switch 40, so that the generation collision of collision sense switch 40
Signal；When outside impact force disappears, crash element 10 resets under the restoring force effect of elastomeric element 30.
In the specific implementation, crash structure needs to be used together with reference to body (robot), and crash structure passes through bottom
Plate 50 is attached with body, while collision sense switch 40 is coupled with body.When by external impact power, crash element 10
It is being subjected to displacement by the effect of external impact power and is triggering collision sense switch 40, collision sense switch 40 is generating collision alarm
And send to body collision alarm, so that body makes corresponding response according to collision alarm.There is phase in crash element 10
During to displacement, elastomeric element 30 there occurs deformation under the drive of crash element 10, generate the reaction force of impact force, work as machine
After body is responded, external impact power disappears, and elastomeric element 30 gives the restoring force of crash element 10, and crash element 10 is according to reply
The effect of power is resetted.Elastomeric element 30 in the embodiment of the present invention includes but is not limited to tension spring, compression spring, elastic force
Rubber etc..Elastomeric element 30 in Fig. 1 is tension spring, when there is relative displacement in crash element 10, partial elastic part 30
It is stretched and deforms upon, be applied to the restoring force of crash element 10, so that crash element 10 resets.
Crash structure operation principle：When crash element 10 encounters barrier, crash element 10 is extruded and is subjected to displacement, together
When triggering collision sense switch 40, collision sense switch 40 signal transmission to body MCU (MCU is micro-control unit,
Microcontroller Unit).MCU is responded, such as judgement property skidding or change direction, and body is while inertia
In buffering area abatement.After barrier is left away, external impact power disappears, and elastomeric element 30 pulls crash element 10 to return to initial bit
Put.
Crash structure provided in an embodiment of the present invention, limiting component 10 is fixed on base plate 50, is realized by base plate 50
To the spacing of crash element 10 in collision process, while crash structure is integrated into an entirety by base plate 50.Impact portions
Part 10 is supported by limiting component 20 with elastomeric element 30, it can be ensured that crash element 10 can be to the mobile of level
And reset.Crash element 10 is an overall structure, is capable of the impact force of all directions in detection level direction, dead in the absence of detection
Angle.It is subjected to displacement when by external impact power by crash element 10, and triggers collision sense switch 40 so that collision sense
Switch 40 generates collision alarm, is rung so that the equipment for receiving the collision alarm can make corresponding driving 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；By elastomeric element 30
Reset crash element 10, so that crash structure can continue to work.Additionally, technical scheme provided in an embodiment of the present invention, knot
Structure is simple, easy for installation, it is adaptable to robot or other various movable equipments.
Crash structure provided in an embodiment of the present invention is described in detail further below.
Fig. 2 is the partial enlargement structural representation of the crash structure of the embodiment of the present invention, and Fig. 3 is the embodiment of the present invention
The decomposition texture floor map of crash structure, referring to Fig. 1 to Fig. 3.
In the embodiment of the present invention, alternatively, limiting plate 11 is provided with multiple first connecting portions 13,30 points of multiple elastomeric elements
Not Tong Guo multiple first connecting portions 13 be connected on the diverse location of limiting plate 11.First connecting portion 13 includes but is not limited to be limited
Position post, spacing preiection, spacing hook etc..When first connecting portion 13 is limited post, elastomeric element 30 passes through first connecting portion
13 connection limiting plates 11, the connection end of elastomeric element 30 can be directly socketed in first connecting portion 13, convenient disassembly.In order to increase
Fastness between strong elasticity part 30 and first connecting portion 13, is additionally provided with mounting hole or buckle in first connecting portion 13,
The connection end of elastomeric element 30 can be attached by mounting hole or buckle with first connecting portion 13.Similarly, spacing
Be also equipped with mounting hole or buckle on part 20, the connection end of elastomeric element 30 can by mounting hole or buckle with it is spacing
Part 20 is attached, to strengthen the bonding strength between elastomeric element 30 and limiting component 20.
In the embodiment of the present invention, alternatively, first connecting portion 13 is arranged in the plate face of limiting plate 11, or is arranged on spacing
On the hole wall in hole 12.The arrangement form of first connecting portion 13 is circumferential uniform.
During specific implementation, first connecting portion 13 is arranged on when in the plate face of limiting plate 11, and first connecting portion 13 is in limiting plate
Position on 11 can be the circumferential periphery for being distributed on spacing hole 12.The circumferential periphery for being distributed on spacing hole 12 of first connecting portion 13
Mode may refer to Fig. 2.
First connecting portion 13 is circumferential to be distributed on when on the inwall of spacing hole 12, and first connecting portion 13 is circumferentially distributed on described
Mode on the hole inwall of spacing hole 12 is that one end of first connecting portion 13 is fixedly connected on the inwall of spacing hole 12, another
Hold and extend to the center of spacing hole 12, or upwardly extended parallel to limiting component 20.When first connecting portion 13 is to spacing hole 12
Center when extending, can't see first connecting portion 13 in the plane where limiting plate 11, save limiting plate 11 in height
Shared space, limiting component 20 is same with elastomeric element 30 to be hidden in spacing hole 12 so that crash structure is more beautiful
See.
In order that obtaining multiple elastomeric elements 30 can be connected to identical position on limiting component 20, set on limiting component 20
There is second connecting portion, multiple elastomeric elements 30 are connected by second connecting portion with limiting component 20 respectively, multiple elastomeric elements 30
Difference in height will not be produced, in the case of without other external force, multiple elastomeric elements 30 are applied to the power on limiting component 20
Application point is identical.
In the embodiment of the present invention, collision sense switch 40 includes switch triggering part 14 and collision sense part 15, wherein, switch
Trigger member 14 is arranged on crash element 10, and collision sense part 15 is arranged on base plate 50, or, switch triggering part 14 is arranged on
On base plate 50, collision sense part 15 is arranged on crash element 10；When crash element 10 is subject to external impact power, switch triggering
The triggering collision sense of part 14 part 15.
Why collision sense switch 40 can be triggered, because occurring between switch triggering part 14 and collision sense part 15
Relative displacement, if switch triggering part 14 is fixedly installed on crash element 10, collision sense part 15 needs to be fixed on bottom
On plate 50, if being fixedly installed on crash element 10 collision sense part 15, need switch triggering part 14 to be arranged on base plate
On 50.When crash element 10 is subjected to displacement, relative displacement will occur between switch triggering part 14 and collision sense part 15, from
And pass through the triggering collision sense of switch triggering part 14 part 15.
With continued reference to Fig. 1 to Fig. 3, in the embodiment of the present invention, it is arranged on crash element 10 with switch triggering part 14, is collided
As a example by sensing member 15 is located on base plate 50.When crash element 10 is subject to external impact power, switch triggering part 14 is with crash element
10 are subjected to displacement, and trigger the collision sense part 15 being located on base plate 50, so that collision sense part 15 generates collision alarm.
Collision sense part 15 includes but is not limited to magnetic induction switch, photoelectric sensor switch in the embodiment of the present invention.Work as collision
When sensing member 15 is magnetic induction switch, magnetic induction can be produced between switch triggering part 14 and collision sense part 15, when switch is touched
Outbox 14 in the sensing region of collision sense part 15 closer or far from collision sense part 15 when, collision sense part can be triggered
15.When collision sense part 15 is photoelectric sensor switch, after switch triggering part 14 enters the sensing region of photoelectric sensor switch, hide
The light beam of photoelectric sensor switch is kept off or reflected, the communication of photoelectric sensor switch itself is hindered, so as to open optoelectronic induction
Put capable triggering into.
Specifically, when collision sense part 15 is magnetic induction switch, energy between switch triggering part 14 and collision sense part 15
Magnetic induction is enough produced, when crash element 10 is subjected to displacement, switch triggering part 14 is subjected to displacement therewith, and switch triggering part 14 is moved to
Collision sense part 15 can be triggered after in the sensing area of magnetic induction switch.
When collision sense part 15 is photoelectric sensor switch, after crash element 10 drives switch triggering part 14 to be subjected to displacement,
Switch triggering part 14 enters the sensing area of photoelectric sensor switch, blocks or reflect the light beam of photoelectric sensor switch, hinders
The communication of photoelectric sensor switch itself, so as to be triggered to photoelectric sensor switch, wherein, the sensing area of photoelectric sensor switch is
One U-type groove, makes collision sense part 15 be triggered in the U-type groove of the insertion collision sense of switch triggering part 14 part 15.
Photoelectric sensor switch detection mode is included but is not limited to：Switch triggering part 14 blocks photoelectric sensor switch according to penetrating
Infrared transmission, MCU (micro-control unit, Microcontroller Unit) is connected to transducing signal and judges triggering.Wherein photoelectricity
Inductive switch response frequency can be 1kHz, supply voltage DC5~24V.
In embodiments of the present invention, in order to reduce the contact area between crash element 10 and base plate 50, frictional force is reduced,
In the embodiment of the present invention, alternatively, there is gap between crash element 10 and base plate 50.In the specific implementation, referring to Fig. 2, limit
Position one end for being connected with elastomeric element 30 of part 20 pass through spacing hole 12, and the connection end of limiting component 20 where plane
Higher than the plane where limiting plate 11, so, one end that limiting component 20 is connected with elastomeric element 30 is higher than limiting plate 11,
In the presence of limiting component 20 is common with elastomeric element 30 so that there is gap between crash element 10 and base plate 50, reduce
Contact area between crash element 10 and base plate 50, reduces frictional force.Certainly, do not exist between crash element 10 and base plate 50
Gap is also possible, in the presence of limiting component 20 and elastomeric element 30 are common, a weight is applied with to crash element 10
The reaction force of power so that crash element 10 is in suspended state, is only to contact between crash element 10 and base plate 50, due to
The pressure that gravity is produced can be ignored.
Structure is made up of waterproof material in the embodiment of the present invention.Specifically, crash element 10, elastomeric element 30, limiting section
Any one or more use waterproof materials in the shell and base plate 50 of part 20 and collision sense switch 40 are made.So
Crash structure waterproof can be enabled.Collision sense switch 40 with electrical connection is provided with single confined air
Between, also dustproof and waterproof.
To crash structure provided in an embodiment of the present invention, how application is further described in detail below.
The basic role principle of crash structure, collision sense part 15 is by taking photoelectric sensor switch as an example：
1) when crash element 10 encounters barrier, barrier can produce normal pressure to crash element 10, and (frictional force can be neglected
Slightly), the displacement of opposed bottom 50 can be produced after the stress of crash element 10；
2) after crash element 10 produces the displacement relative to base plate 50, switch triggering part 14 also can be with respect to collision sense part
15 produce displacement, and trigger corresponding collision sense part 15；
3) when switch triggering part 14 does not produce the displacement relative to collision sense part 15, in the U-lag of collision sense part 15
Light be not blocked；
After switch triggering part 14 produces displacement, for the collision sense part 15 near barrier, the light in its U-lag
The switch triggering part 14 that line can be matched with it is blocked, and produces collision alarm；
For the collision sense part 15 away from barrier, switch triggering part 14 is increased with its distance, therefore light will not
It is blocked；
4) central control system of robot receives the collision alarm that collision sense part 15 is beamed back, can be true according to collision alarm
The light of fixed which collision sense part 15 is blocked, and the light of which collision sense part 15 is not blocked from breaking, so as to barrier will be analyzed
Hinder the direction of thing and send corresponding avoidance order.
Embodiment 2
Correspondingly the embodiment of the present invention additionally provides a kind of robot, including：
It is arranged on the crash structure as described in example 1 above in robot；Collision sense in crash structure is opened
40 are closed to be coupled with robot.
Crash structure in embodiment 1 is arranged in robot, the position of setting can be that robot is easily touched
The position hit, or robot bottom.
Alternatively, the crash element 10 in crash structure is enclosed the embodiment of the present invention around the outer Monday of robot.
In the specific implementation, when the hollow bulb of crash element 10 is one, crash element 10 in crash structure is by machine
Device people is trapped among within hollow bulb so that multi-angle senses impact force.When colliding, collided in the presence of outside impact force
Part 10 is subjected to displacement, and collision sense switch 40 is triggered, and collision sense switch 40 generates collision alarm and sends out collision alarm
Robot is delivered to, after robot receives collision alarm, the position of barrier is judged according to collision alarm and corresponding sound is made
Should, so as to reduce damage of the impact force to robot, play a part of avoiding barrier.It should be noted that receiving different
When collision sense switch 40 sends collision alarm, robot can make different according to the position of different collision senses switch 40
Response.
For example, the collision alarm that frontal collisions sense switch 40 sends, the response of robot is stopping, retreating, turns
To response；The collision alarm that rearward collision sense switch 40 sends, the response of robot is the response for accelerating, turn to；Both sides
The collision alarm that collision sense switch 40 sends, the response of robot is the response for turning to；Etc.
It should be noted that robot is many to the response mode of collision alarm, the present invention is not specifically limited.
In order to not influence the outward appearance of robot, the color and material of crash feature can be color and material with robot
It is same or similar, can not so influence the outward appearance of robot.
Crash structure in the present invention can also be applied in addition to it may apply on removable body (robot)
Onto non-moving body, play a part of to wake up or start.
For example, a non-moving robot, when there is external force to touch, causes collision sense to be opened in the presence of impact force
Close 40 and have issued collision alarm, non-moving robot can be waken up or open according to collision alarm.
Application scenarios
Usage scenario is below applied, technical scheme provided in an embodiment of the present invention is described in detail：
Scene one
Mobile robot avoiding barrier, it is as follows：
Crash structure is provided with mobile robot body, crash element is loop configuration, without detection dead angle.
In moving process, after encountering barrier, the crash element power that is collided occurs relative displacement and to trigger for robot
Corresponding collision sense switch.Collision sense switch generation collision alarm, sends to robot.Robot receives collision alarm
Afterwards, make stopping movement or change direction etc. and evade reaction.
Scene two
Non-moving robot, touching wakes up, as follows：
Crash structure is provided with non-moving machine human organism, crash element is loop configuration, without detection dead angle.
By touching the crash structure of robot, the crash element power that is collided is subjected to displacement and triggers and accordingly touches people
Hit sense switch.Collision sense switch generation collision alarm, sends to robot.After robot receives collision alarm, make and calling out
The responses such as awake or start.
In sum, technical scheme provided in an embodiment of the present invention, one is formed by setting base plate by crash structure
Overall structure, crash element can occur relative displacement relative to base plate.Crash element is entered by limiting component with elastomeric element
Row support, it can be ensured that crash element can be to the mobile of level and reset.Integrally-built crash element can be detected
The impact force of all directions of horizontal direction, in the absence of detection dead angle.Occur when by external impact power by crash element
Relative displacement between base plate, collision sense switch is triggered so that collision sense switch generation collision alarm, to receive
Equipment to the collision alarm can make corresponding driving response according to the collision alarm, and then reduce collision to being provided with anticollision
The injury of the equipment of structure, the service life of extension device；By elastomeric element reset crash element, so as to crash structure energy
Enough work on.Additionally, technical scheme provided in an embodiment of the present invention, simple structure is easy for installation, it is adaptable to robot or its
His various movable equipment.Additionally, technical scheme provided in an embodiment of the present invention, simple structure is easy for installation, it is adaptable to machine
People or other various movable equipments.And do not influence robot and the overall appearance of other main bodys.Also, with evading barrier
Hinder outside the function of thing, also with the function of waking up body, using more convenient.
It should be noted that, although specific embodiment of the invention is described in detail with reference to accompanying drawing, 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 modification and variation that can be made through creative work 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 schematical, wherein the unit illustrated as separating component 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 has shown and described some preferred embodiments of the embodiment of the present invention, but as previously described, 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 do not depart from the embodiment of the present invention spirit and
Scope, then all should be in the protection domain of embodiment of the present invention appended claims.
Claims (10)
1. a kind of crash structure, it is characterised in that including：Crash element, base plate, limiting component, multiple elastomeric element and touch
Hit sense switch；Wherein,
Hollow bulb is provided with the crash element, the inwall of the hollow bulb is provided with limiting plate, and the limiting plate is provided with
Spacing hole；
The limiting component is arranged on the base plate and in the spacing hole；
One end of each elastomeric element is connected with the limiting component, and the other end of each elastomeric element is connected to
On the diverse location of the limiting plate；
The collision sense switch is arranged on the crash element and the base plate；
When the crash element is subject to external impact power, the crash element is subjected to displacement, and triggers the collision sense and open
Close, so that collision sense switch generation collision alarm；
When the external impact power disappears, the crash element resets under the restoring force effect of the elastomeric element.
2. structure according to claim 1, it is characterised in that the limiting plate is provided with multiple first connecting portions；
Multiple elastomeric elements are connected on the diverse location of the limiting plate by multiple first connecting portions respectively.
3. structure according to claim 2, it is characterised in that the first connecting portion is arranged on the plate face of the limiting plate
On, or be arranged on the hole wall of the spacing hole.
4. structure according to claim 3, it is characterised in that the first connecting portion arrangement form is circumferential uniform.
5. structure according to claim 1, it is characterised in that the limiting component is provided with second connecting portion, Duo Gesuo
Elastomeric element is stated to be connected with the limiting component by the second connecting portion respectively.
6. structure according to claim 1, it is characterised in that the collision sense switch includes switch triggering part and collision
Sensing member；
Wherein, the switch triggering part is arranged on the crash element, and the collision sense part is arranged on the base plate, or
Person, the switch triggering part is arranged on the base plate, and the collision sense part is arranged on the crash element；
When the crash element is subject to external impact power, the switch triggering part triggers the collision sense part.
7. structure according to claim 6, it is characterised in that the collision sense part includes photoelectric sensor switch, magnetic strength
Inductive switch.
8. structure according to claim 1, it is characterised in that there is gap between the crash element and the base plate.
9. a kind of robot, it is characterised in that including：
It is arranged on the crash structure as any one of claim 1 to 8 in the robot；
Collision sense switch in the crash structure is coupled with the robot.
10. robot according to claim 9, it is characterised in that the crash element in the crash structure is around institute
State the circle of outer Monday of robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710180077.5A CN106808497A (en) | 2017-03-21 | 2017-03-21 | A kind of crash structure and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710180077.5A CN106808497A (en) | 2017-03-21 | 2017-03-21 | A kind of crash structure and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106808497A true CN106808497A (en) | 2017-06-09 |
Family
ID=59115654
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710180077.5A Pending CN106808497A (en) | 2017-03-21 | 2017-03-21 | A kind of crash structure and robot |
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| Country | Link |
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| CN (1) | CN106808497A (en) |
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| CN108481310A (en) * | 2018-05-22 | 2018-09-04 | 苏州赛亚智能技术有限公司 | A kind of anticollision robot base |
| CN109421062A (en) * | 2017-08-30 | 2019-03-05 | 科沃斯商用机器人有限公司 | Self-movement 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 |
| CN110664329A (en) * | 2019-10-18 | 2020-01-10 | 上海高仙自动化科技发展有限公司 | Collision sensor and cleaning robot |
| CN112775984A (en) * | 2020-12-25 | 2021-05-11 | 北京北方华创微电子装备有限公司 | Semiconductor cleaning equipment and mechanical arm thereof |
| CN113305818A (en) * | 2021-05-28 | 2021-08-27 | 高彦波 | Mechanical arm self-checking reset and protection method |
| 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 |
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| CN113305818A (en) * | 2021-05-28 | 2021-08-27 | 高彦波 | Mechanical arm self-checking reset and protection method |
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