CN206551014U - A kind of crash structure and robot - Google Patents
A kind of crash structure and robot Download PDFInfo
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- CN206551014U CN206551014U CN201720211509.XU CN201720211509U CN206551014U CN 206551014 U CN206551014 U CN 206551014U CN 201720211509 U CN201720211509 U CN 201720211509U CN 206551014 U CN206551014 U CN 206551014U
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Abstract
The utility model embodiment discloses a kind of crash structure and robot, crash structure, including：Limiting component, crash element, elastomeric element and collision sense switch；Limiting component is used to be defined the direction of displacement and shift length of crash element；One end of elastomeric element is fixed, and the other end is interlocked with crash element；When by external impact power, the direction of displacement and shift length that crash element is limited along limiting component are subjected to displacement to trigger collision sense switch collision sensing collision sense switch collision sense switch；When outside impact force disappears, crash element resets under the restoring force effect of elastomeric element and eliminates the triggering to colliding sense switch；Correspondingly, the utility model embodiment additionally provides a kind of robot；The technical scheme of the utility model embodiment, helps robot to make respective response when colliding, and reduces by being influenceed, while crash structure installs simple, is applicable the main body that various patterns robot is also suitable other field.
Description
Technical field
The utility model embodiment belongs to robotic technology field, specifically, is related to a kind of crash structure and machine
People.
Background technology
With developing rapidly for modern science and technology, the application of intelligent robot is more and more extensive, either in family, still
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 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.
Utility model content
In view of this, the utility model embodiment provides a kind of crash structure and robot, to reduce robot in hair
By being influenceed during raw collision, extend the service life of robot.
To solve technical problem of the prior art, the utility model embodiment provides a kind of crash structure, including：
Limiting component, crash element, elastomeric element and collision sense switch；
The limiting component is used to be defined the direction of displacement of the crash element；
One end of the elastomeric element is fixed, and the other end is interlocked with the crash element；
When by external impact power, direction of displacement and shift length that the crash element is limited along the limiting component
It is subjected to displacement to trigger the collision sense switch；
When the external impact power disappears, the crash element resets simultaneously under the restoring force effect of the elastomeric element
Eliminate the triggering switched to the collision sense.
Alternatively, the limiting component includes locating dowel and the pressing plate being arranged in the locating dowel；
The crash element is provided with positioning hole；
The crash element is socketed in the locating dowel by the positioning hole；
Wherein, along along the crash element moving direction, there is the first gap between the locating dowel and the positioning hole；
Along along the locating dowel axis direction, there is the second gap between the pressing plate and the crash element.
Alternatively, the crash element is fan-shaped ring structure；
The collision sense switch is multiple；
Multiple collision sense switches are along the circumferential uniform of the fan-shaped ring structure, to sense circumferential multiple angles
Collision at degree.
Alternatively, reset hole is provided with the crash element, the elastomeric element is arranged in the reset hole.
Alternatively, in addition to：Bottom plate；
The collision sense switch is arranged on the bottom plate with the limiting component；
One end of the elastomeric element is fixed on the bottom plate.
Alternatively, the side of the crash element and the contacts baseplate is provided with multiple support columns with ball-type bottom；
The crash element is contacted by the ball-type bottom with the bottom plate point.
Alternatively, the cylinder periphery of each support column is furnished with multiple ribs in the multiple support column；
The ribs has third space with the bottom plate.
Alternatively, the limiting component, crash element, elastomeric element, the shell of collision sense collision sense switch
And any one or more use waterproof materials in the bottom plate are made.
Correspondingly the utility model embodiment additionally provides 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 of at least one in the robot；
Collision sense switch in the crash structure is coupled with the robot.
Further optionally, when the crash structure set in the robot is multiple, multiple anticollisions
Crash element in structure is enclosed around the outer Monday of the robot, and in multiple crash elements two adjacent crash elements it
Between have the 4th gap.
The technical scheme that the utility model embodiment is provided, crash element is limited by external impact by limiting component
Direction of displacement during power, to enable crash element to be subjected to displacement along the direction of displacement that limiting component is limited, and can be triggered to and touch
Hit sense switch；Collision sense switch generates collision alarm after being triggered so that receive the equipment energy of the collision alarm according to
The collision alarm makes corresponding driving response, and then reduces collision to the injury for the equipment for being provided with anti-collision structure, and extension is set
Standby service life；Crash element is resetted by elastomeric element, so that crash structure can continue to work.In addition, this practicality
The technical scheme that new embodiment is provided, it is simple in construction, it is easy for installation, it is adaptable to robot or other various movable equipments.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the accompanying drawing used required in description of the prior art is briefly described, it should be apparent that, drawings in the following description are
Some embodiments of the utility model embodiment, for those of ordinary skill in the art, are not paying creative work
Under the premise of, other accompanying drawings can also be obtained according to these accompanying drawings.
Accompanying drawing described herein is used for providing further understanding the utility model embodiment, constitutes the utility model
A part for embodiment, the schematic description and description of the utility model embodiment is used to explain that the utility model is implemented
Example, does not constitute the improper restriction to the utility model embodiment.
In the accompanying drawings：
Fig. 1 is the decomposition texture schematic diagram of the crash structure of the utility model embodiment；
Fig. 2 is the mounting structure schematic diagram of the crash structure of the utility model embodiment；
Fig. 3 is the mounting structure floor map of the crash structure of the utility model embodiment；
Fig. 4 is the close-up schematic view of the decomposition texture of the crash structure of the utility model embodiment；
Fig. 5 is the close-up schematic view of the semi-section of the crash element of the utility model embodiment；
Fig. 6 is the close-up schematic view of the back side decomposition texture of the crash structure of the utility model embodiment；
Fig. 7 is the backside structure and side view close-up schematic view of the crash structure of the utility model embodiment；
Fig. 8 is the use state schematic diagram of the anti-collision structure of the utility model embodiment.
Description of reference numerals
10：Crash element；11：Positioning hole；12：Reset hole；13：Support column；14：Ribs；
20：Elastomeric element；21：Fastening screw；
30：Collision sense is switched；31：Leading portion sliding bar；
40：Locating dowel；41：Pressing plate；
50：Bottom plate.
Embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that retouched
The embodiment stated is a part of embodiment of the utility model embodiment, rather than whole embodiments.It is real based on the utility model
Apply the embodiment in example, the every other reality that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example is applied, the scope of the utility model embodiment protection is belonged to.
Inventor has found during the utility model is realized, at present, many mobile robots in use,
Shell always can be by different degrees of damage, and some service life is very short.It is that barrier is being encountered by robot to trace it to its cause, by
The reaction do not evaded after to collision, so as to cause the influence being subject in collision process very big, gently then causes machine
The damage of people's shell, internal part that is heavy then causing robot breaks down, and influences the use of robot.Accordingly, it would be desirable to a kind of
Mobile robot avoiding barrier is enabled to, the technical scheme for evading reaction is made after colliding.
Therefore, to solve defect of the prior art, the utility model embodiment provides a kind of crash structure and machine
People, reduces the influence that robot is subject to when colliding, and extends the service life of robot.
The embodiment of the utility model embodiment is described in detail below in conjunction with drawings and Examples, thereby to this reality
With new embodiment, how application technology means can fully understand to solve technical problem and reach the implementation process of technology effect
And implement according to this, structure of the present utility model is described further below in conjunction with accompanying drawing.
Embodiment 1：
Fig. 1 is the decomposition texture schematic diagram of the crash structure of the utility model embodiment, as shown in Fig. 1：
The utility model embodiment provides a kind of crash structure, including：Limiting component, crash element 10, elastic portion
Part 20 and collision sense switch 30, limiting component are used to be defined the direction of displacement and shift length of crash element 10；
One end of elastomeric element 20 is fixed, and the other end is interlocked with crash element 10；When by external impact power, crash element 10 is along limit
The direction of displacement and shift length that position part is limited are subjected to displacement to trigger collision sense switch 30, so that collision sense switch 30
Generate collision alarm；When outside impact force disappears, crash element 10 resets and disappeared under the restoring force effect of elastomeric element 20
Except the triggering to colliding sense switch 30.
In the specific implementation, crash structure combination body (robot) is used together, and crash structure is arranged on body
On.Limiting component is arranged on body, meanwhile, crash element 10 is limited to the scope of activities of crash element 10 by limiting component
It is interior, and the direction of displacement and shift length of crash element 10 are defined.Collision sense switch 30 is coupled with body, elastic portion
One end of part 20 is fixed on body, and the other end is interlocked with crash element 10.When by external impact power, crash element 10 exists
Occurred relative displacement by the effect of external impact power, and the direction of displacement and shift length that are limited along limiting component are subjected to displacement
To trigger collision sense switch 30, collision sense switch 30 generates collision alarm and sends collision alarm to body, so as to machine
Body makes corresponding response according to collision alarm.When relative displacement occurs for crash element 10, elastomeric element 20 is in crash element
Deformation is also there occurs under 10 drive, the reaction force of impact force is generated, after body is responded, external impact power disappears
Lose, elastomeric element 20 gives the restoring force of crash element 10, crash element 10 is resetted according to the effect of restoring force and eliminated pair
The triggering of collision sense switch 30.Elastomeric element 20 includes but is not limited to tension spring, compression spring, torque spring, elastic force rubber
Glue etc..By taking tension spring as an example, one end of tension spring is fixedly connected on body, and the other end is connected with crash element 10, when
When relative displacement occurs for crash element 10, tension spring applies and direction of displacement opposite effect power to crash element 10, so as to
Crash element 10 is caused to reset when impact force disappears.Elastomeric element 20 in Fig. 1 is tension spring, when crash element 10 is sent out
During raw relative displacement, elastomeric element 20, which is stretched, to be deformed upon, and is applied to the restoring force opposite with direction of displacement 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 to be shunk inward, together
When triggering collision sense switch 30, collision sense switch 30 signal pass 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 20 pulls crash element 10 to return to initially
Position.
The technical scheme that the utility model embodiment is provided, crash element 10 is limited by outside by limiting component
Direction of displacement and shift length during impact force, to enable the direction of displacement and displacement that crash element 10 limits along limiting component
Distance is subjected to displacement, and can be triggered to collision sense switch 30；Collision sense switch 30 generates collision alarm after being triggered so that
Corresponding driving response can be made according to the collision alarm by receiving the equipment of the collision alarm, and then reduce collision to being provided with
The injury of the equipment of anti-collision structure, the service life of extension device；Crash element 10 is resetted by elastomeric element 20, so as to anti-collision
Hit structure and can continue to work
The crash structure that the utility model embodiment is provided is described in detail further below.
Crash structure in the utility model embodiment includes limiting component, and limiting component is used to limit crash element 10
Direction of displacement, while also functioning to the effect of installation shock part 10.Limiting component include it is a variety of, for example：Limiting component is limited
Position baffle plate, postive stop baffle is arranged on the relative side of the stress surface of crash element 10, and postive stop baffle and elastomeric element 20, which coordinate, to be installed
Crash element 10, when crash element 10 is subjected to displacement, postive stop baffle limits the direction of displacement of crash element 10；Limiting component
Can replace postive stop baffle with limited post or limited block.
When limiting component is limited post or limited block, following setting form can also be used.The utility model is real
Apply in example, referring to Fig. 1, alternatively, limiting component includes locating dowel 40 and the pressing plate 41 being arranged in locating dowel 40.Crash element
10 are provided with positioning hole 11, and crash element 10 is socketed in locating dowel 40 by positioning hole 11, wherein, moved along crash element 10
On dynamic direction, the first gap is provided between locating dowel 40 and positioning hole 11, locating dowel 40 is used to limiting crash element 10 the
Moved in one gap.Pressing plate 41 is arranged in locating dowel 40, wherein, along along the axis direction of locating dowel 40, pressing plate 41 and impact portions
The second gap is provided between part 10, pressing plate 41 is moved for limiting crash element 10 in the second gap.
In the specific implementation, locating dowel 40 is at least one, and the quantity of pressing plate 41 is corresponding to the quantity of locating dowel 40, touches
The quantity for hitting positioning hole 11 on part 10 is corresponding with the quantity of locating dowel 40 and position, and crash element 10 passes through positioning hole 11
Be socketed in locating dowel 40, rear fender 41 be connected with locating dowel 40.Locating dowel 40, positioning hole 11 and pressing plate 41 are limited and touched
The direction of displacement and scope of activities of part 10 are hit, and realizes the installation of crash element 10.Referring to Fig. 2 and Fig. 3 impact portions
The schematic diagram of the installation of part 10, Fig. 2 is the mounting structure schematic diagram of the crash structure of the utility model embodiment, and Fig. 3 is
The mounting structure floor map of the crash structure of the utility model embodiment.
XY coordinates are respectively illustrated in Fig. 3, the plane coordinates where crash element 10 is represented.The positioning hole of crash element 10
11 coordinate with the locating dowel 40 in limiting component, crash element 10 is in spacing state, locating dowel 40 in plane coordinates XY
The first gap is provided between positioning hole 11, the size in the first gap is the displacement in plane coordinates XY of crash element 10
Direction and scope of activities.Pressing plate 41 is used in space coordinate Z-direction (Z-direction is limited post axis direction, not shown in figure)
Crash element 10 is pushed down, its spatial coordinates Z-direction is in spacing state, is provided between pressing plate 41 and crash element 10
Second gap, the size in the second gap is direction of displacement and scope of activities of the crash element 10 in Z-direction.In specific implementation
When, the size in the first gap is reserved equal to effective travel+buffering area+processing skill, and the size in the second gap is equal between design effectively
Gap+technique is reserved, wherein, effective travel is advanced by collision sense switch 30 from initial position to triggering collision sense switch 30
Distance, buffering area is that crash element 10 triggers the distance that moves on after collision sense switch 30, and design effective clearance is touches
Hit part 10 and allow glade plane space in the case where meeting use requirement and not failing.Fig. 4 is the utility model embodiment
What the amplifier section A in the close-up schematic view of the decomposition texture of crash structure, Fig. 4 was represented is the amplification of locating dowel 40
What the amplifier section B in figure, Fig. 4 was represented is the enlarged drawing of positioning hole 11.Fig. 5 is the crash element 10 of the utility model embodiment
Semi-section close-up schematic view.With reference to Fig. 4 and Fig. 5, in coordinate XY, crash element 10 is socketed by positioning hole 11
In locating dowel 40, gap is left between locating dowel 40 and positioning hole 11, the gap is the first gap, the first gap is defined
Direction of displacement and scope of activities of the crash element 10 in XY coordinates.
First gap and the setting in the second gap, can not only limit the direction of displacement of crash element 10, shift length with
And scope of activities, while also playing prevents the effect of maloperation.Body is during traveling, it is possible to because road bump,
Body itself produces vibration so that crash element 10 is subjected to displacement.This displacement of crash element 10 because of generation of jolting is not
Need to trigger collision sense switch 30, by setting the first gap and the second gap to enter row buffering to this displacement, so as to keep away
Triggering collision sense switch 30 is exempted from, it is therefore prevented that maloperation.
It should be noted that the limiting component that the utility model embodiment is provided realizes position-limiting action, specific implementation
Including a variety of, the utility model embodiment is not specifically limited, including but not limited to above-mentioned implementation, as long as can realize
The implementation of scope of activities of crash element 10 is limited within the protection domain of the utility model embodiment.
With continued reference to Fig. 1 to Fig. 3, in order to ensure the external impact power for sensing Multi-orientation multi-angle of crash structure, this
In utility model embodiment, alternatively, crash element 10 is fan-shaped ring structure；Collision sense switch 30 is multiple；It is multiple to touch
Sense switch 30 is hit along the circumferential uniform of fan-shaped ring structure, to sense the collision at circumferential multiple angles.Specific implementation
When, the crash element 10 of two fan-shaped ring structures can be used, two crash elements 10 can form a ring assembling structure, this
Sample triggers corresponding collision sense switch 30 no matter the collision of which angle and direction can be sensed by crash element 10,
So that body makes corresponding response.
Collision sense switch 30 includes but is not limited to magnetic induction switch, photoelectric sensor switch in the utility model embodiment.
When collision sense switch 30 is magnetic induction switch, magnetic induction can be produced between crash element 10 and collision sense switch 30,
When crash element 10 is switched in 30 sensing region closer or far from collision sense switch 30 in collision sense, it can trigger
Collision sense switch 30.When collision sense switch 30 is photoelectric sensor switch, crash element 10 enters photoelectric sensor switch
After sensing region, the light beam of photoelectric sensor switch is blocked or reflected, the communication of photoelectric sensor switch itself is hindered, so that
Photoelectric sensor switch is triggered.
With continued reference to Fig. 5, in the utility model embodiment, collision sense switch 30 includes leading portion sliding bar 31；Impact portions
Part 10 by the effect of external impact power when being occurred relative displacement, and crash element 10 enters the touch area of leading portion sliding bar 31
And drive leading portion sliding bar 31 to occur relative displacement, so as to the triggering collision sense of leading portion sliding bar 31 switch 30.
When collision sense switch 30 is magnetic induction switch, it can be produced between leading portion sliding bar 31 and collision sense switch 30
Magnetisation senses, and crash element 10 enters after the touch area of leading portion sliding bar 31, touches and drives leading portion sliding bar 31 to occur phase
To displacement, leading portion sliding bar 31 can trigger collision sense switch 30 after being moved in the sensing area of magnetic induction switch.Work as collision
When sense switch 30 is photoelectric sensor switch, crash element 10 is touched and driven after leading portion sliding bar 31, and leading portion sliding bar 31 enters
Enter the sensing area of optoelectronic induction collision sense switch 30, block or reflect the light beam of photoelectric sensor switch, hinder photoelectricity
The communication of inductive switch itself, so as to be triggered to photoelectric sensor switch.Photoelectric sensor switch detection mode includes but not limited
In：The leading portion sliding bar 31 of photoelectric sensor switch blocks sensor according to penetrating infrared transmission, MCU (micro-control unit,
Microcontroller Unit) it is connected to transducing signal judgement triggering.Wherein photoelectric sensor switch response frequency can be 1kHz, electricity
Source voltage DC5~24V.In the specific implementation, buffer distance is also equipped between crash element 10 and leading portion sliding bar 31, collided
By designing, effective Feedback distance+technique is reserved to be calculated buffer distance between part 10 and leading portion sliding bar 31,
Wherein, design effective Feedback distance is encountered for crash element 10 passes and body makes sound after barrier to collision alarm
In the time answered, the distance of body movement.
In the utility model embodiment, elastomeric element 20 include but is not limited to tension spring, compression spring, torque spring,
Elastic rubber etc..Elastomeric element 20 plays reset function, and in order to reduce the space shared by arrangement component, the utility model is implemented
Example, alternatively, is provided with reset hole 12, elastomeric element 20 is arranged in reset hole 12, elastomeric element 20 on crash element 10
One end is fixed, and the other end is interlocked with crash element 10.By taking tension spring as an example, referring to 1-5, it is provided with least on crash element 10
One reset hole 12, elastomeric element 20 is arranged in reset hole 12, and one end is fixed, and the other end is connected with crash element 10, connection
Mode includes but is not limited to：One end is fixed by fastening screw 21, and the other end is socketed in the lug boss of crash element 10.When
Crash element 10 be collided power occur relative displacement when, tension spring is stretched, produce impact force reaction force, work as collision
When power disappears, tension spring is resetted crash element 10.By setting reset hole 12, and handle on crash element 10
Elastomeric element 20 is arranged in multiple holes, is reduced part shared space in the provisioning process, is realized the integrated of part, and
The part of body itself is not influenceed to arrange.
Crash structure combination body (robot) be used together, it is necessary to by all parts of crash structure respectively with machine
Body is attached, and is operated cumbersome.It is optional for crash structure is realized in integration, the utility model referring to Fig. 1-5
Ground, in addition to：Bottom plate 50；Collision sense switch 30 is arranged on bottom plate 50 with limiting component；One end of elastomeric element 20 is fixed
On bottom plate 50, the other end is interlocked with crash element 10.
The all parts of crash structure are separately positioned on bottom plate 50, crash structure is formed one by bottom plate 50
Individual entirety, then be attached by bottom plate 50 and body so that connection integration, the simplification of body and crash structure.
In the specific implementation, limiting component is locating dowel 40, and locating dowel 40 can be structure as a whole with bottom plate 50, can also
It is separate.Screw is provided with locating dowel 40, screw is used for connecting screw.When locating dowel 40 is structure as a whole with bottom plate 50
When, after crash element 10 is socketed with locating dowel 40, pressing plate 41 is connected in locating dowel 40 by screw and screw, screw
Nut pressing plate 41 can be blocked, prevent pressing plate 41 from departing from from locating dowel 40.When bottom plate 50 material for steel plate or its
In the case of his rigid material, it is integrally formed in technique more difficult, therefore can selects to enter locating dowel 40 with bottom plate 50
Row independent design.When locating dowel 40 and bottom plate 50 are separate, screwed hole is provided with bottom plate 50, by bottom plate 50
Screwed hole, by screw connection locating dowel 40 and bottom plate 50, after bottom plate 50 is connected with locating dowel 40, is socketed in locating dowel 40
Crash element 10, then pressing plate 41 is connected in locating dowel 40 by screw and screw, the nut of screw can block pressing plate 41
Firmly, prevent pressing plate 41 from departing from from locating dowel 40.
In order to reduce the contact area between crash element 10 and bottom plate 50, frictional force, the utility model embodiment are reduced
In, referring to Fig. 5-7, alternatively, crash element 10 is provided with multiple support columns with ball-type bottom with the side that bottom plate 50 is contacted
13；Crash element 10 is contacted for 50 points by ball-type bottom and bottom plate.
By setting the support column 13 with ball-type bottom, contact to become from face between crash element 10 and bottom plate 50 and a little connect
Touch, reduce contact area and frictional force, crash element 10 is arranged into quick condition is arranged on bottom plate 50, ash is fallen if any product
Dirt does not influence structural friction force.In addition, the cylinder periphery of each support column 13 is furnished with multiple ribs 14 in multiple support columns 13；Plus
Strong rib has third space with bottom plate 50.The cylinder periphery of support column 13 is furnished with multiple ribs 14, enhances support column 13
Intensity, prevents support column 13 from being deformed in motion process.There is third space between ribs 14 and bottom plate 50, that is to say, that plus
Strong rib 14 is not in contact with bottom plate, and ribs 14 will not increase frictional force while 13 intensity of support column is increased.Specific real
Shi Shi, support column 13, ribs 14 can be structure as a whole with crash element 10, can also be separately provided.Support column 13 is set
The contact area and frictional force of crash element 10 can not only be reduced by putting, while also having dust-proof, sand control effect, work as impact portions
When there are sand and dust between part 10 and bottom plate 50, crash element 10 can be gradually by sand and dust by support column 13 in moving process
Dispose.
In order to reduce damage of the frictional resistance force to support column 13, in the utility model embodiment, alternatively, support column 13
The one end contacted with bottom plate 50 sets SDeflector or directive wheel.That is ball-type bottom can be transformed into SDeflector or guiding
Wheel.By setting SDeflector so that the structure of the similar nib with ball pen of structure of support column 13, in the He of crash element 10
When relative displacement occurs for bottom plate 50, SDeflector is rolled, and reduces the frictional force between support column 13 and bottom plate 50.Same
Directive wheel, can also reduce damage of the frictional force to support column 13.By setting SDeflector or directive wheel to extend branch
The service life of dagger 13.
Structure is made up of waterproof material in the utility model embodiment.Specifically, limiting component, crash element 10, elasticity
Any one or more use waterproof materials in part 20, the shell of collision sense switch 30 and bottom plate 50 are made., so
It can enable crash structure waterproof.Collision sense switch 30 with electrical connection is provided with single confined air
Between, also dustproof and waterproof.
How application is further described in detail the crash structure provided below the utility model embodiment.
In specific application, crash structure can be applied using multisection type, two-part.
During using multisection type, crash element 10 is separately positioned at each orientation of body, when barrier is encountered in some orientation
When hindering thing, collision sense in this place switch 30, which is triggered, sends collision alarm, so that body is made accordingly according to collision alarm
Response.But, multisection type can there are multiple blind areas in junction, and the quantity of segmentation is more, and blind area is more, especially in machine
People's direct of travel, it is easy to cause structure function to fail.Arrangement space be multiple-unit be used in series fault rate it is higher, maintenance ratio
It is more difficult.
Therefore, applied to reduce crash structure in sensing blind area, the utility model embodiment using two-part,
When being applied using two-part, referring to Fig. 8.
Bottom plate 50 can be one piece of circular bottom plate 50 or two semicircle bottom plates 50, and crash element 10 is fan-shaped ring
Structure, crash element 10 uses and is provided with multiple spacing holes and multiple reset holes 12, this reality on two, each crash element 10
With in new embodiment, the quantity of spacing hole is four, and the quantity of reset hole 12 is three, the quantity of limited post and pressing plate 41 with
Spacing hole is corresponding, and the quantity of elastomeric element 20 is corresponding with the quantity of reset hole 12.Two formation of crash element 10 one are circular
Structure, each crash element 10 can receive the impact force in three directions, correspondingly, and each Impact direction is provided with one
Collision sense switch 30, wherein, collision sense switch 30 is optoelectronic induction collision sense switch 30.
With continued reference to Fig. 8, the crash structure of two-part is realized around barrier function：By photoelectric sensor switch triggering information
Feed back to and robot ambulation route is can determine whether after MCU.
1. when barrier is immediately ahead of robot or during dead astern, its front or dead astern photoelectric sensor switch are touched
Hair.
2. when barrier is in left front or at left back, its just before (rear) side and left front (rear) just two light inductances
Inductive switch is triggered simultaneously.
3. when barrier is in right front or at right back, its just before (rear) side and it is right before (rear) just two light inductances
Inductive switch is triggered simultaneously.
The crash structure of two-part can realize it is simple and reliable for structure, safe, with low cost, be swift in response, buffer area
Long, anticollision area coverage is big, while can dust-proof and simple waterproof sand prevention, environmental requirement are low, be can be achieved by collision around hindering work(
Can, robot chassis Integration Design can be achieved.
Embodiment 2
Correspondingly the utility model embodiment additionally provides a kind of robot, including：
It is arranged on the collision sense in the crash structure at least one such as embodiment 1 in robot, crash structure
Slowdown monitoring switch 30 is coupled with robot.Not shown in robot figure.
Crash structure in embodiment 1 is arranged in robot, the position of setting can be that robot is easily touched
The position hit.Can also be that by the way of the two-part in embodiment 1, the crash structure of two-part is arranged on robot
Chassis portion.
The utility model embodiment alternatively, when the crash structure set in robot for it is multiple when, multiple anticollisions
Crash element in structure is enclosed around the outer Monday of robot, and has the in multiple crash elements between two adjacent crash elements
Four gaps.
In the specific implementation, the collision in the uniform multiple crash structures in periphery of robot, multiple crash structures
Part encloses a circle, so that multi-angle senses impact force.Meanwhile, in order to prevent maloperation, also stayed between crash element two-by-two
There is the 4th gap.Certainly, the crash element of crash structure point is more, and the quantity in the 4th gap is also more, so senses
Blind area is also more, in order to reduce in the quantity of sensing blind area, the utility model embodiment, the crash element in crash structure
10 be two, so, and sensing blind area only has two, and two formation loop configuration of crash element 10, robot is arranged on ring junction
In structure.Robot is arranged on to the loop configuration middle of the crash structure of two-part, two formation of crash element 10 one are justified
Shape structure.Collision dead angle is eliminated, can be with the comprehensive avoid-obstacle behavior for realizing robot.
When colliding, crash element 10 is subjected to displacement in the presence of outside impact force, and crash element 10 is moved to
When in the sensing region of collision sense switch 30, triggering collision sense switch 30, collision sense switch 30 generates collision alarm simultaneously
Collision alarm is sent to robot, robot is received after collision alarm, corresponding response is made according to collision alarm, so as to subtract
Few damage of the impact force to robot, plays a part of avoiding barrier.Opened it should be noted that receiving different collision senses
When closing 30 transmission collision alarm, different responses be made in the position that robot can switch 30 according to different collision senses.
For example, the collision alarm that frontal collisions sense switch 30 is sent, the response of robot is stopping, retreating, turned
To response；The collision alarm that rearward collision sense switch 30 is sent, the response of robot is the response for accelerating, turning to；Both sides
The collision alarm that collision sense switch 30 is sent, the response of robot is the response turned to；Etc.
It should be noted that robot is many to the response mode of collision alarm, the utility model is not specifically limited.
In order to not influence the outward appearance of robot, the color and material of crash feature can be the color and material with robot
It is same or similar, it can not so influence the outward appearance of robot.
Crash structure in the utility model may be used also in addition to it may apply on removable body (robot)
To be applied on non-moving body, play a part of waking up or start.
For example, a non-moving robot, when there is external force touching, causes collision sense to be opened in the presence of impact force
Pass have issued collision alarm, and non-moving robot can be waken up or open according to collision alarm.
Application scenarios
Usage scenario is applied below, and the technical scheme that the utility model embodiment is provided is described in detail：
Scene one
Mobile robot avoiding barrier, it is as follows：
Crash structure is provided with mobile robot body, crash structure uses two-part.
Robot is encountered after barrier in moving process, and the crash element power that is collided occurs relative displacement and to trigger
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：
The crash structure of two-part is provided with non-moving machine human organism.
People are by touching the crash structure of robot, and the crash element power that is collided is subjected to displacement and triggered and accordingly touches
Hit sense switch.Collision sense switch generation collision alarm, sends to robot.Robot is received after collision alarm, is made and being called out
The responses such as awake or start.
In summary, the utility model embodiment provide technical scheme, by limiting component limit crash element by
To direction of displacement during external impact power, to enable crash element to be subjected to displacement along the direction of displacement that limiting component is limited, and
Collision sense switch can be triggered to；Collision sense switch generates collision alarm after being triggered so that receive the collision alarm
Equipment can make corresponding driving response according to the collision alarm, and then reduce collision to the wound for the equipment for being provided with anti-collision structure
Evil, the service life of extension device；Crash element is resetted by elastomeric element, so that crash structure can continue to work.This
Outside, the utility model embodiment provide technical scheme, it is simple in construction, it is easy for installation, it is adaptable to robot or other it is various can
Mobile device.In addition, the technical scheme that the utility model embodiment is provided, can effectively be subtracted using the crash structure of two-part
Blind area is collided less, reaches the purpose of multi-faceted anticollision.Meanwhile, crash structure is capable of water proof and dust proof sand control, simple in construction,
It is easy for installation, it is adaptable to robot or other various movable equipments.In addition, the technical side that the utility model embodiment is provided
Case, it is simple in construction, it is easy for installation, it is adaptable to robot or other various movable equipments.And influence robot and other masters
The overall appearance of body.Also, outside the function with avoiding barrier, also with the function of waking up body, use more facilitates.
It should be noted that, although embodiment of the present utility model is described in detail with reference to accompanying drawing,
But it should not be construed as the restriction to protection domain of the present utility model.In the scope described by claims, this area skill
The various modification and variation that art personnel can make without creative work still fall within protection domain of the present utility model.
The example of the utility model embodiment is intended to concisely illustrate the technical characterstic of the utility model embodiment so that this
Art personnel can intuitively understand the technical characterstic of the utility model embodiment, be not intended as the utility model embodiment
It is improper to limit.
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.
Some preferred embodiments of the utility model embodiment have shown and described in described above, but as it was previously stated, should
Understand that the utility model embodiment is not limited to form disclosed herein, be not to be taken as the exclusion to other embodiment,
And available for various other combinations, modification and environment, and can in application contemplated scope described herein, by above-mentioned teaching or
The technology or knowledge of association area are modified.And the change and change that those skilled in the art are carried out do not depart from the utility model reality
Apply the spirit and scope of example, then all should be in the protection domain of the utility model embodiment appended claims.
Claims (10)
1. a kind of crash structure, it is characterised in that including：Limiting component, crash element, elastomeric element and collision sense are opened
Close；
The limiting component is used to be defined the direction of displacement and shift length of the crash element；
One end of the elastomeric element is fixed, and the other end is interlocked with the crash element；
When by external impact power, the direction of displacement and shift length that the crash element is limited along the limiting component occur
Displacement is switched with triggering the collision sense；
When the external impact power disappears, the crash element resets and eliminated under the restoring force effect of the elastomeric element
The triggering switched to the collision sense.
2. structure according to claim 1, it is characterised in that the limiting component include locating dowel and be arranged on it is described fixed
Pressing plate on the post of position；
The crash element is provided with positioning hole；
The crash element is socketed in the locating dowel by the positioning hole；
Wherein, along along the crash element moving direction, there is the first gap between the locating dowel and the positioning hole；
Along along the locating dowel axis direction, there is the second gap between the pressing plate and the crash element.
3. structure according to claim 1, it is characterised in that the crash element is fan-shaped ring structure；
The collision sense switch is multiple；
Multiple collision sense switches are along the circumferential uniform of the fan-shaped ring structure, to sense at circumferential multiple angles
Collision.
4. structure according to claim 1, it is characterised in that reset hole, the elasticity are provided with the crash element
Part is arranged in the reset hole.
5. structure according to any one of claim 1 to 4, it is characterised in that also include：Bottom plate；
The collision sense switch is arranged on the bottom plate with the limiting component；
One end of the elastomeric element is fixed on the bottom plate.
6. structure according to claim 5, it is characterised in that the side of the crash element and the contacts baseplate is set
There are multiple support columns with ball-type bottom；
The crash element is contacted by the ball-type bottom with the bottom plate point.
7. structure according to claim 6, it is characterised in that the cylinder periphery cloth of each support column in the multiple support column
There are multiple ribs；
The ribs has third space with the bottom plate.
8. structure according to claim 5, it is characterised in that the limiting component, crash element, elastomeric element, described
Any one or more use waterproof materials in the shell and the bottom plate of collision sense collision sense switch are made.
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 of at least one 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 when the anticollision knot set in the robot
When structure is multiple, the crash element in multiple crash structures is enclosed around the outer Monday of the robot, and multiple described
There is the 4th gap in crash element between two adjacent crash elements.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720211509.XU CN206551014U (en) | 2017-03-06 | 2017-03-06 | A kind of crash structure and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720211509.XU CN206551014U (en) | 2017-03-06 | 2017-03-06 | A kind of crash structure and robot |
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| Publication Number | Publication Date |
|---|---|
| CN206551014U true CN206551014U (en) | 2017-10-13 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720211509.XU Active CN206551014U (en) | 2017-03-06 | 2017-03-06 | A kind of crash structure and robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625618A (en) * | 2017-03-06 | 2017-05-10 | 上海木爷机器人技术有限公司 | Collision preventing structure and robot |
| CN108845370A (en) * | 2018-07-18 | 2018-11-20 | 国家***哈尔滨林业机械研究所 | Piano type obstacle recognition system |
| CN109645900A (en) * | 2019-01-21 | 2019-04-19 | 中国计量大学 | A kind of collision detecting device and dust-collecting robot |
| CN112578783A (en) * | 2019-09-29 | 2021-03-30 | 杭州海康机器人技术有限公司 | Walking control method and device for automatic guided transport vehicle |
| 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 |
-
2017
- 2017-03-06 CN CN201720211509.XU patent/CN206551014U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625618A (en) * | 2017-03-06 | 2017-05-10 | 上海木爷机器人技术有限公司 | Collision preventing structure and robot |
| CN108845370A (en) * | 2018-07-18 | 2018-11-20 | 国家***哈尔滨林业机械研究所 | Piano type obstacle recognition system |
| CN109645900A (en) * | 2019-01-21 | 2019-04-19 | 中国计量大学 | A kind of collision detecting device and dust-collecting robot |
| CN112578783A (en) * | 2019-09-29 | 2021-03-30 | 杭州海康机器人技术有限公司 | Walking control method and device for automatic guided transport vehicle |
| CN112578783B (en) * | 2019-09-29 | 2022-08-30 | 杭州海康机器人技术有限公司 | Walking control method and device for automatic guided transport vehicle |
| 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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