WO2023165492A1 - 碰撞装置及机器人 - Google Patents
碰撞装置及机器人 Download PDFInfo
- Publication number
- WO2023165492A1 WO2023165492A1 PCT/CN2023/078894 CN2023078894W WO2023165492A1 WO 2023165492 A1 WO2023165492 A1 WO 2023165492A1 CN 2023078894 W CN2023078894 W CN 2023078894W WO 2023165492 A1 WO2023165492 A1 WO 2023165492A1
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- WO
- WIPO (PCT)
- Prior art keywords
- collision device
- substrate
- collision
- switch
- robot body
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
Definitions
- the present application relates to the field of robots, in particular to a collision device and a robot.
- robots are increasingly used instead of manual operations, such as mowing with lawnmowers.
- the lawn mower of the related art usually needs to be installed with a collision device when performing operations.
- the collision device can be used to detect obstacles and prevent the machine body of the lawn mower from being damaged due to collision.
- the current collision device is also prone to damage when it is collided.
- the collision device needs to be replaced, and how to reduce the probability of damage to the collision device when it touches an obstacle has become a technical problem to be solved.
- the purpose of this application is to provide a collision device and a robot to solve the technical problem of how to reduce the probability of damage to the collision device when it touches an obstacle.
- the present application provides a collision device, which is used to be installed on the robot body, and the collision device includes:
- the first connecting piece is fixedly connected to the robot body
- the working structure is arranged on the side of the first connecting part away from the robot body;
- the first elastic member is located between the first connecting member and the working structure, and the first elastic member is used for deforming when the working structure is hit.
- the first connecting part is fixedly connected to the robot body, the first elastic part is located between the first connecting part and the working structure, and the first elastic part can be used to deform when the working structure is hit.
- the collision device of the present application has a first elastic member, and the first elastic member will elastically deform when the working structure is hit, and then By making the working structure deflect relative to the first connecting piece, the impact force received by the working structure can be unloaded, reducing the probability of damage when the collision device touches an obstacle.
- the working structure includes a first base plate and an anti-collision piece arranged on a side of the first base plate away from the first connecting piece;
- the first substrate includes a first arm, a mounting portion, and a second arm arranged in sequence;
- first elastic member elastically abuts between the mounting portion and the first connecting member, and the installation direction of the first elastic member is perpendicular to the first substrate or cross, the first base plate is deflected when the first arm or the second arm is hit.
- first elastic members there are two first elastic members, and the two first elastic members are arranged side by side along the extending direction of the working structure.
- At least one first through hole is provided on the first substrate
- the first connecting piece includes a first bearing portion and a first fixing piece, the first fixing piece passes through the first through hole, one end of the first fixing piece is fixedly connected to the first bearing portion, and the other One end is provided with a first blocking portion;
- the first elastic member is sheathed on the first fixing member; one end of the first elastic member abuts against the first blocking portion, The other end abuts against the first substrate.
- the first through hole is a strip-shaped hole, and the extending direction of the first through hole is the same as the extending direction of the first substrate.
- the first connecting piece includes a second base plate, and at least one second through hole is provided on the second base plate
- the working structure also includes a second fixing piece, and the second fixing piece passes through the second
- the through hole is fixed on the first substrate
- the second fixing member is provided with a second blocking portion at an end away from the second substrate
- the first elastic member is sleeved on the second fixing member, and the One end of the first elastic member abuts against the second blocking portion, and the other end abuts against the second substrate.
- the collision device further includes a rotating assembly, the rotating assembly is arranged between the working structure and the first connecting piece, the rotating assembly includes a first matching part and a second matching part, the first The matching part is arranged on the working structure, the second matching part is arranged on the first connecting part, and the first matching part is used for deflecting the working structure relative to the first connecting part. and rotate relative to the second matching portion.
- one of the first fitting part and the second fitting part is a ball joint support, and the other is a ball joint; or, one of the first fitting part and the second fitting part One is a pivot support, and the other is a rotating member; or, one of the first matching portion and the second matching portion is a torsion spring support, and the other is a rotating member.
- the working structure includes:
- An anti-collision member is connected to one side of the first substrate; the first connecting member is connected to the side of the first substrate away from the anti-collision member, and the first connecting member includes There are two movable connecting parts arranged opposite to each other, and the connecting parts are used for detachable installation with the robot body.
- the first connector also includes:
- the first bearing part connects the side of the first substrate away from the anti-collision member, and is used to carry the two connecting parts;
- a first bracket protrudes from the first bearing portion in a direction away from the first substrate.
- a receiving space is opened on opposite sides of the two connecting parts, and the connecting parts are partially housed in the receiving space;
- the connecting part includes a pressing part, a locking part, an elastic compression part and a rotating part; the elastic compression part is located between the side wall of the storage space adjacent to the pressing part and the pressing part, and the pressing part part is connected to the clamping part, and one end of the clamping part adjacent to the pressing part is connected with the rotating part, and the clamping part can rotate relative to the rotating part, and the clamping part is used for It is clamped with the robot body.
- the first connecting member further includes a first signal interface, the first signal interface is provided on the side of the first carrying portion away from the first substrate, and the first signal interface is used for signal transmission.
- the collision device also includes:
- a signal light is arranged on the anti-collision member, and the signal light is electrically connected to the first signal interface.
- the anti-collision parts also include:
- the second bearing part is fixedly connected to the first substrate
- the first switch is arranged on a side of the second bearing part away from the first substrate, and the first switch is arranged on an end of the second bearing part far away from the first connector, The first switch is electrically connected to the first signal interface;
- the second switch is arranged on the same side of the second bearing part as the first switch, and the second switch is far away from the first switch relative to the first connecting member, the first switch
- the two switches are electrically connected to the first signal interface.
- the anti-collision parts also include:
- the movable part is arranged on the side of the second carrying part away from the first substrate;
- the second elastic member elastically connects the movable part and the second bearing part.
- the present application provides a robot, which includes:
- a robot body, the collision device is detachably mounted on the robot body.
- the robot body includes a second connecting piece, the second connecting piece is detachably connected to the first connecting piece, the first connecting piece includes a connecting portion, and the second connecting piece includes oppositely arranged Two fixed connection parts, the fixed connection part is mated with the connection part, and can be used to detachably connect the collision device with the robot body.
- the robot body includes a second connector
- the second connector is detachably connected to the first connector
- the first connector includes a first bracket
- the second connector further includes:
- the anti-collision member includes a second bearing portion, a first switch and a second switch, and when the first connecting member includes a first signal interface, the second connecting member further includes:
- a second signal interface is electrically connected to the first signal interface to receive a trigger signal, wherein at least one of the first switch and the second switch is triggered when the collision device collides with an obstacle one generating the trigger signal;
- the robot also includes a central control system electrically connected to the second signal interface, and the central control system is used to control the movement of the robot body according to the trigger signal to avoid obstacles.
- FIG. 1 is a schematic structural diagram of a robot provided in Embodiment 1 of the present application.
- FIG. 2 is an exploded schematic diagram of a collision device provided in Embodiment 1 of the present application.
- Fig. 3 is a schematic cross-sectional structure diagram of a collision device provided in Embodiment 1 of the present application.
- FIG. 4 is a schematic structural diagram of a first substrate provided in Embodiment 1 of the present application.
- FIG. 5 is a schematic structural diagram of a collision device provided in Embodiment 2 of the present application.
- Fig. 6 is a partial structural schematic diagram of a collision device provided in some embodiments of the present application.
- FIG. 7 is a schematic structural diagram of a collision device provided in Embodiment 3 of the present application.
- FIG. 8 is a schematic structural diagram of a collision device provided in Embodiment 4 of the present application.
- FIG. 9 is a schematic structural diagram of a collision device provided in Embodiment 5 of the present application.
- Fig. 10 is a partial structural schematic diagram of a collision device provided in Embodiment 5 of the present application.
- Fig. 11 is a schematic structural diagram of a collision device provided in an embodiment of the present application.
- Fig. 12 is a schematic cross-sectional view along line A-A of an embodiment of the collision device provided in the embodiment of Fig. 11 .
- Fig. 13 is a partially enlarged schematic diagram of a location I in the collision device provided by the embodiment of Fig. 12 .
- Fig. 14 is a schematic structural diagram of a collision device provided in another embodiment of the present application.
- Fig. 15 is a schematic structural diagram of a collision device provided in another embodiment of the present application.
- Fig. 16 is a schematic structural diagram of a collision device provided in another embodiment of the present application.
- Fig. 17 is a schematic cross-sectional view along line AA of another embodiment of the collision device provided in the embodiment of Fig. 11 .
- Fig. 18 is a schematic cross-sectional view along line A-A of another embodiment of the collision device provided in the embodiment of Fig. 11 .
- Fig. 19 is a schematic diagram of cooperation between the first connecting part and the second connecting part in the robot provided by the embodiment of the present application.
- FIG. 20 is a partially enlarged schematic diagram of an implementation at II in the implementation in FIG. 19 .
- Fig. 21 is a partially enlarged schematic diagram of another embodiment at II in the embodiment of Fig. 19 .
- Fig. 22 is a partially enlarged schematic diagram of another embodiment at II in the embodiment of Fig. 19 .
- Fig. 23 is a connection block diagram of the trigger signal transmission of the robot in the embodiment of Fig. 22 .
- connection should be interpreted in a broad sense.
- it may be a fixed connection, or a detachable connection, or an integral connection; it may be a mechanical connection, or an electrical connection; it may be a direct connection, or an indirect connection through an intermediate piece, or an internal communication between two components.
- robots are increasingly used instead of manual operations, such as mowing with lawnmowers.
- the lawn mower of the related art usually needs to be installed with a collision device when performing operations.
- the collision device can be used to detect obstacles and prevent the machine body of the lawn mower from being damaged by collision.
- the current collision device is also prone to damage when it is collided, and the collision device needs to be replaced. How to reduce the probability of damage to the collision device when it touches an obstacle has become a technical problem that needs to be solved.
- FIG. 1 is a schematic structural diagram of a robot provided in Embodiment 1 of the present application.
- the present application provides a robot 1000, including a robot body 2 and a collision device 1, and the collision device 1 is used to prevent the robot body 2 from being collided.
- FIG. 2 is an exploded schematic view of a collision device provided in Embodiment 1 of the present application.
- the present application provides a collision device 1 for being installed on a robot body 2 .
- the collision device 1 includes a first connecting member 10 , a working structure 20 and a first elastic member 31 .
- the first connecting piece 10 is fixedly connected to the robot body 2 .
- the working structure 20 is disposed on a side of the first connecting member 10 away from the robot body 2 .
- the first elastic member 31 is located between the first connecting member 10 and the working structure 20, and the first elastic member 31 is used for deforming when the working structure 20 is hit.
- the first elastic member 31 can be elastically abutted between the first connecting member 10 and the working structure 20 , or one end of the first elastic member 31 is connected to the first connecting member 10 and the other end is connected to the working structure 20 .
- the collision device 1 is used to be installed on the robot body 2 .
- the robot 1000 is a mowing robot, and the robot body 2 is a lawnmower body.
- the robot 1000 may also be other types of robots, such as pesticide spraying robots, crop harvesting robots, etc., all of which belong to the embodiments of the present application and should not be construed as limitations on the present application.
- the working structure 20 is arranged on the side of the first connecting part 10 away from the robot body 2, and the robot body 2, the first connecting part 10 and the working structure 20 are arranged in sequence along the advancing direction of the robot body 2, when the moving direction of the robot body 2
- the working structure 20 hits the obstacle first, so as to prevent the robot body 2 from hitting the obstacle and causing damage.
- the working structure 20 encounters an obstacle first, can identify the obstacle when the robot body 2 executes path planning, and instructs other structural components to take corresponding obstacle avoidance measures.
- the collision device 1 also includes a first connecting piece 10 , which is fixedly connected to the robot body 2 , and the first connecting piece 10 and the robot body 2 are detachably installed.
- the first connector 10 is installed with the robot body 2 through a buckle connection.
- the first connector 10 can also be fixedly connected with the robot body 2 through other fixed connection methods, for example Bonding, screwing or other connection methods. Because the collision device 1 and the robot body 2 are detachably installed, when the collision device 1 hits an obstacle, if the working structure 20 is damaged, the collision device 1 can be disassembled for repair or replacement without repairing the robot body 2 .
- the first elastic member 31 is elastically connected between the first connecting member 10 and the working structure 20, and the first elastic member 31 is used for deforming when the working structure 20 is hit. When the first elastic member 31 is deformed, it can make the working structure 20 deflect relative to the first connecting member 10 .
- the first connecting member 10 is fixedly connected to the robot body 2, and the first elastic member 31 is elastically connected between the first connecting member 10 and the working structure 20.
- the first elastic member 31 can be used to The working structure 20 deforms upon impact.
- the first elastic member 31 can be elastically abutted between the first connecting member 10 and the working structure 20 .
- the collision device 1 of the present application has a first elastic member 31, and the first elastic member 31 will break down when the working structure 20 is hit.
- the elastic deformation further makes the working structure 20 deflect relative to the first connecting member 10 , which can relieve the impact force received by the working structure 20 and reduce the probability of damage when the collision device 1 touches an obstacle.
- FIG. 3 is a schematic cross-sectional structural diagram of a collision device provided in Embodiment 1 of the present application
- FIG. 4 is a schematic structural diagram of a first substrate provided in Embodiment 1 of the present application.
- the working structure 20 comprises a first substrate 21 .
- the first substrate 21 includes a first arm 211 , a mounting portion 213 , and a second arm 212 arranged in sequence.
- the mounting portion 213 is located between the first arm 211 and the second arm 212 .
- the first elastic member 31 elastically abuts between the mounting portion 213 and the first connecting member 10 , and the installation direction of the first elastic member 31 is perpendicular to or intersects with the first substrate 21 , and the first substrate 21 can be moved relative to the first connecting member 10 deflection. Wherein, when the first support arm 211 or the second support arm 212 is hit, the first substrate 21 may deflect relative to the first connecting member 10 .
- the first elastic member 31 can be configured as a spring, and the first elastic member 31 can be arranged in the direction of the central axis of the spring. The direction of the central axis of the spring is perpendicular to or intersects the extending direction of the first substrate 21.
- the extension direction may be a direction in which the first arm 211 faces the second arm 212 or a direction in which the second arm 212 faces the first arm 211 .
- the first elastic member 31 is arranged on the side of the first substrate 21 away from the first connecting member 10.
- the first elastic member 31 can also be arranged between the first substrate 21 and the first connecting member 10, one end of the first elastic member 31 is connected to the first connecting member 10, and the other end is connected to the first substrate 21 in the working structure 20 .
- the first elastic member 31 can elastically deform and deflect the working structure 20 relative to the first connecting member 10 , it should not be construed as a limitation to the present application.
- the first arm 211 is the left arm in the figure
- the second arm 212 is the right arm in the figure
- the first arm 211 is After impacting and moving toward the robot body 2
- the second arm 212 moves away from the robot body 2
- the first base plate 21 deflects counterclockwise relative to the first connecting member 10 as a whole.
- the second arm 212 is hit and moves toward the direction close to the robot body 2
- the first arm 211 moves away from the robot body 2
- the second arm 211 moves toward the direction away from the robot body 2.
- a base plate 21 deflects clockwise relative to the first connecting member 10 as a whole.
- the deflected working structure 20 is reset due to the recovery of the deformation of the first elastic member 31 .
- the number of the first elastic member 31 can be 1, 2, or 3, or 4, or more than 4, and the present application only uses the number of the first elastic member 31 as 2. By way of example, it should not be construed as limiting the application.
- the first elastic member 31 is disposed in the working structure 20 .
- At least one first through hole 214 is formed on the first substrate 21 .
- the first connecting part 10 includes a first bearing part 113 and a first fixing part 12, the first fixing part 12 passes through the first through hole 214, one end of the first fixing part 12 is fixedly connected to the first bearing part 113, and the other end is provided There is a first blocking portion 13 .
- the first elastic member 31 is sheathed on the first fixing member 12 .
- the first elastic member 31 is located between the first blocking portion 13 of the first connecting member 10 and the first base plate 21 of the working structure 20 .
- One end of the first elastic member 31 abuts against the first blocking portion 13 , and the other end abuts against the first substrate 21 .
- the first fixing part 12 can be used to fix the first elastic part 31, and the first elastic part 31 is sheathed on the first fixing part 12.
- the first fixing part 12 can be used to adjust the The extension direction of the elastic deformation of the first elastic member 31 is guided to avoid unfavorable bending phenomenon of the first elastic member 31 .
- two first elastic members 31 are provided to enhance the elastic reset capability of the collision device 1, so that the collision device 1 can better unload the impact force received by the working structure 20, and reduce the impact of the collision device 1. Probability of damage occurring when touching an obstacle.
- the two first elastic members 31 are arranged side by side along the extending direction of the working structure 20 .
- the extending direction of the working structure 20 is parallel to the extending direction of the first substrate 21 .
- the working structure 20 is deflectable relative to the first connecting part 10 , and the deflection axis of the working structure 20 is located between the two first elastic parts 31 . In this way, when the working structure 20 deflects relative to the first connecting member 10 , under the action of the elastic force of the two first elastic members 31 , the working structure 20 will have better impact resistance and reset ability after impact.
- first fixing parts 12 There are two first fixing parts 12 correspondingly, and the two first elastic parts 31 are sheathed on the two first fixing parts 12 respectively.
- One of the two first elastic members 31 is disposed close to the first support arm 211 , and the other is disposed close to the second support arm 212 .
- the first elastic member 31 arranged close to the second support arm 212 is squeezed by the second support arm 212 and deformed; And when moving towards the direction close to the robot body 2 , the first elastic member 31 disposed close to the first arm 211 is pressed by the first arm 211 and deformed.
- the first fixing part 12 is fixed on the first bearing part 113.
- the first fixing part 12 is a bolt
- the first connecting part 10 is provided with a threaded hole.
- the first fixing part 12 and the first connecting part 10 The fixing is performed by threaded connection.
- the first fixing member 12 may also be fixed on the first bearing portion 113 by other means, which is not limited in this application.
- the first blocking portion 13 is a blocking piece, and when one end of the first elastic member 31 abuts against the first blocking portion 13 , the first blocking portion 13 abuts against one end of the first fixing member 12 .
- the first fixing member 12 is a bolt
- the first blocking portion 13 may also be a nut of the bolt, as long as one end of the first elastic member 31 can abut against the nut.
- the first through hole 214 is a strip-shaped hole, and the extending direction of the first through hole 214 is the same as the extending direction of the first substrate 21 .
- the first through hole 214 is a bar-shaped hole, which can provide a moving space for the working structure 20 to move in the horizontal direction, thereby facilitating the deflection of the working structure 20 relative to the first connecting member 10 .
- FIG. 6 is a partial structural schematic diagram of a collision device provided in some embodiments of the present application.
- the first elastic member 31 is disposed in the first connecting member 10 .
- the first connector 10 includes a second base plate 14, and at least one second through hole 15 is provided on the second base plate 14.
- the working structure 20 also includes a second fixing piece 16, and the second fixing piece 16 is fixed on the second through hole 15.
- the first substrate 21, the end of the second fixing member 16 facing away from the second substrate 14 is provided with a second blocking portion 17, the second substrate 14 is located between the second blocking portion 17 and the first substrate 21, and the first elastic member 31 is sleeved In the second fixing part 16, the first elastic part 31 is located between the second substrate 14 of the first connecting part 10 and the second blocking part 17 of the working structure 20, and one end of the first elastic part 31 abuts against the second blocking part 17 , and the other end abuts against the second substrate 14 .
- the second fixing member 16 can be used to fix the first elastic member 31, and the first elastic member 31 is sleeved on the second fixing member 16.
- the second fixing member 16 can be used to The extension direction of the elastic deformation of the first elastic member 31 is guided to avoid unfavorable bending phenomenon of the first elastic member 31 .
- the second fixing part 16 is fixed on the working structure 20.
- the second fixing part 16 is a bolt
- the working structure 20 is provided with a threaded hole
- the second fixing part 16 and the working structure 20 are connected by thread Fixing
- the second fixing member 16 can also be fixed on the working structure 20 in other ways, which is not limited in this application.
- the second blocking portion 17 is a blocking piece, and when one end of the first elastic member 31 abuts against the second blocking portion 17 , the second blocking portion 17 abuts against one end of the second fixing member 16 .
- the second fixing member 16 is a bolt
- the second blocking portion 17 may also be a nut of the bolt, as long as one end of the first elastic member 31 can abut against the nut.
- the second through hole 15 is a strip-shaped hole, and the extending direction of the second through hole 15 is the same as the extending direction of the second substrate 14 .
- the extending direction of the second substrate 14 may be parallel to the extending direction of the first substrate 21 .
- the working structure 20 deflects relative to the first connecting member 10 , that is, there must be a deflection axis.
- the deflection axes are different, and the working structure 20 will rub against the first connecting part 10 during the deflection process, increasing the distance between the first connecting part 10 and the working structure 20 The degree of wear reduces its service life.
- FIG. 7 is a schematic structural diagram of a collision device provided in Embodiment 3 of the present application.
- FIG. 8 is a schematic structural diagram of a collision device provided in Embodiment 4 of the present application.
- the collision device 1 also includes a rotating assembly 40, the rotating assembly 40 is arranged between the working structure 20 and the first connector 10, the rotating assembly 40 includes a first matching part 41 and a second matching part 42, the first matching part 41 is arranged on the working On the structure 20, the second matching portion 42 is provided on the first connecting piece 10, and the first matching portion 41 is used to be opposite when the working structure 20 is deflected relative to the first connecting piece 10.
- the second fitting part 42 rotates.
- a rotating assembly 40 is added between the working structure 20 and the first connecting member 10.
- the rotating assembly 40 can facilitate the rotating of the working structure 20, and the deflection axis and The rotating components 40 are overlapped so that the working structure 20 does not directly contact the first connecting member 10 when it deflects relative to the first connecting member 10 .
- the first matching part 41 and the second matching part 42 can be configured as structural components suitable for rotation, so as to improve the service life of the collision device 1 .
- one of the first fitting portion 41 and the second fitting portion 42 is a ball joint support, and the other is a ball joint.
- one of the first matching portion 41 and the second matching portion 42 may be a pivot support, and the other may be a rotating member. The present application does not limit the rotating structure of the rotating assembly 40, as long as the working structure 20 is rotated when it is deflected.
- FIG. 9 is a schematic structural diagram of a collision device provided in Embodiment 5 of the present application
- FIG. 10 is a partial structural diagram of a collision device provided in Embodiment 5 of the present application
- the first matching portion 41 is a torsion spring support
- the second matching portion 42 is a rotating member.
- the first matching part 41 includes a torsion spring 411 and a pin shaft 412, the torsion spring 411 is passed through the pin shaft 412, and one end of the torsion spring 411 abuts against the first substrate 21, and the other end is used to abut against the second matching part. 42.
- the number of torsion springs 411 is 2, and the arrangement directions of the torsion springs 411 are opposite.
- the second matching portion 42 is disposed between the two torsion springs 411 .
- FIG. 11 is a schematic structural diagram of a collision device provided by an embodiment of the present application
- FIG. 12 is a schematic cross-sectional view along line A-A of an embodiment of the collision device provided by the embodiment of FIG. 11
- the working structure 20 includes a first base plate 21 and an anti-collision member 22 .
- the bumper 22 is connected to one side of the first substrate 21 .
- the first connecting part 10 is connected to the side of the first substrate 21 away from the anti-collision member 120.
- the first connecting part 10 includes two movable connecting parts 11 arranged opposite to each other.
- the connecting part 11 is used for detachable connection with the robot body 2. Install.
- the collision device 1 is used to be installed in automation equipment, such as a lawn mowing robot, a pesticide spraying robot, or a crop harvesting robot.
- the collision device 1 plays a role in preventing the body of the automation equipment from directly colliding with obstacles and being damaged when performing operations.
- the collision device 1 is used to identify obstacles, and transmit the signal of the identification obstacles to the automation equipment, so that the automation The device avoids obstacles.
- the anti-collision member 22 is used to identify obstacles.
- the anti-collision member 22 may, but is not limited to, identify obstacles by means of ultrasonic sensors, laser sensors, pressure sensors, or contact sensors.
- the first connecting member 10 includes two movable connecting parts 11 arranged opposite to each other, and the connecting parts 11 are used for detachable installation with the robot body 2 .
- the connection part 11 can be detachably connected to the robot body 2 by means of clamping, bonding or bolts, but not limited to. It should be noted that, in the present embodiment, the connection part 11 is schematically described in a manner of snap-fitting.
- FIG. 13 is a partially enlarged schematic diagram of a location I in the collision device provided in the embodiment of FIG. 12 .
- the first connector 10 has a receiving space 112 .
- the connecting portion 11 is partially accommodated in the accommodation space 112 .
- a receiving space 112 is defined on opposite sides of the two connecting parts 11 .
- the connection part 11 includes a pressing part 1111 , a locking part 1112 , an elastic compression part 1113 and a rotating part 1114 .
- the pressing portion 1111 abuts against one end of the elastic compression portion 1113 so that the elastic compression portion 1113 elastically abuts against the pressing portion 1111 , and the pressing portion 1111 is connected to one end of the engaging portion 1112 .
- One end of the engaging portion 1112 adjacent to the pressing portion 1111 is mated with the rotating portion 1114 , so that the engaging portion 1112 can rotate relative to the rotating portion 1114 .
- the engaging portion 1112 is used for engaging with the robot body 2 .
- one end of the engaging portion 1112 away from the pressing portion 1111 has a structure protruding toward the other connecting portion 11 .
- the elastic compression part 1113 is located between the side wall of the receiving space 112 adjacent to the pressing part 1111 and the pressing part 1111 .
- the elastic compression part 1113 is mated with the rotation part 1114, and the end of the elastic compression part 1113 facing away from the pressing part 1111 elastically abuts against the first connecting part 10 to form the accommodation space 112 opposite to the pressing part 1111 and adjacent to the rotation part 1114 one side of the sidewall.
- the elastic compression part 1113 can also be located between the side wall of the storage space 112 adjacent to the pressing part 1111 and the pressing part 1111, and one end of the elastic compression part 1113 is connected to the side of the storage space 112 adjacent to the pressing part 1111.
- the collision device 1 is divided into two processes of installation and disassembly, and the process of installation and disassembly of the collision device 1 will be described in detail next.
- the specific process of installing the collision device 1 to the robot body 2 is as follows.
- the pressing part 1111 By pressing the pressing part 1111 to make the engaging part 1112 rotate relative to the rotating part 1114, one end of the two engaging parts 1112 having a raised structure moves away from each other, so that the ends having the raised structure of the two engaging parts 1112 can be connected to Robot body 2.
- the force generated by the elastic compression part 1113 due to the elastic recovery makes the engaging part 1112 rotate relative to the rotating part 1114, and one end of the two engaging parts 1112 having a convex structure moves toward each other until they abut against each other.
- the robot body 2 is thus clamped to the robot body 2 , and then the collision device 1 is quickly installed on the robot body 2 .
- the specific process of disassembling the collision device 1 from the robot body 2 is as follows. By pressing the pressing part 1111 to make the engaging part 1112 rotate relative to the rotating part 1114, one end of the two engaging parts 1112 with a raised structure moves away from each other, so that the engaging part 1112 is detached from the robot body 2, and the collision device 1 is removed The collision device 1 can be quickly disassembled from the robot body 2 .
- the present application provides a collision device 1.
- the collision device 1 includes a first base plate 21, an anti-collision piece 22 and a first connecting piece 10.
- the anti-collision piece 22 is connected to one side of the first base plate 21, and the first connecting piece 10 is connected to
- the first connecting part 10 includes two movable connecting parts 11 arranged opposite to each other, and the first connecting part 10 can quickly connect with the two movable connecting parts 11.
- the robot body 2 is connected or disconnected, so as to realize quick installation and disassembly of the collision device.
- the collision device 1 is easy to disassemble from the robot body 2 , which is beneficial to the regular maintenance of the collision device 1 and reduces the time cost of disassembling and installing the collision device 1 during maintenance.
- the collision device 1 can be quickly disassembled and replaced with a new one, so as to reduce the economic loss caused by the downtime of the robot 1000 . Therefore, the collision device 1 provided in the present application can be quickly and easily installed and disassembled with the robot body 2 through the movable connection part 11 , which is beneficial to the maintenance and replacement of the collision device 1 .
- the collision device 1 includes a first base plate 21 , an anti-collision member 22 and a first connecting member 10 .
- the bumper 22 is connected to one side of the first substrate 21 .
- the first connecting part 10 is connected to the side of the first substrate 21 away from the anti-collision member 22.
- the first connecting part 10 includes two movable connecting parts 11 arranged opposite to each other.
- the connecting part 11 is used for detachable connection with the robot body 2.
- the first connector 10 further includes a first bearing portion 113 and a first bracket 114 .
- the first carrying portion 113 connects the side of the first substrate 21 away from the anti-collision member 22 and is used for carrying the two connecting portions 11 .
- the first bracket 114 protrudes from the first carrying portion 113 in a direction away from the first substrate 21 .
- the number of the first bracket 114 is one or more, and the first bracket 114 cooperates with the robot body 2 to increase the stability of the connection between the first connecting piece 10 and the robot body 2, thereby increasing the collision device 1 and the stability of the connection between the robot body 2.
- the number of the first brackets 114 is two for schematic illustration.
- the two first brackets 114 protrude from the first bearing portion 113 in a direction away from the first base plate 21 , and the two first brackets 114 are oppositely disposed on two ends of the first bearing portion 113 .
- two movable connecting parts 11 are arranged oppositely at both ends of the first bearing part 113, and one connecting part 11 is correspondingly arranged adjacent to a first bracket 114, so that when the first connecting part 10 is connected to the robot body 2, it is more convenient. The balance is stable, thereby increasing the stability of the connection between the collision device 1 and the robot body 2 .
- the first bracket 114 It is a tapered structure, and the outer diameter of the end of the first bracket 114 away from the first bearing part 113 is smaller than the outer diameter of the end close to the first bearing part 113 .
- the first bracket 114 has two tapered grooves arranged opposite to each other, and the inner diameter of the tapered groove on the first bracket 114 away from the first bearing part 113 is larger than the inner diameter of the end close to the first bearing part 113 .
- the collision device 1 includes a first base plate 21 , an anti-collision member 22 and a first connecting member 10 .
- the bumper 22 is connected to one side of the first substrate 21 .
- the first connecting part 10 is connected to the side of the first substrate 21 away from the anti-collision member 22.
- the first connecting part 10 includes two movable connecting parts 11 arranged opposite to each other.
- the connecting part 11 is used for detachable connection with the robot body 2.
- the first connecting member 10 further includes a first bearing portion 113 and a first bracket 114 .
- the first carrying portion 113 connects the side of the first substrate 21 away from the anti-collision member 22 and is used for carrying the two connecting portions 11 .
- the first bracket 114 protrudes from the first carrying portion 113 in a direction away from the first substrate 21 .
- the first connector 10 further includes a first signal interface 115 .
- the first signal interface 115 is disposed on the side of the first carrying portion 113 facing away from the first substrate 21 , and the first signal interface 115 is used for signal transmission.
- the first signal interface 115 is used to transmit the obstacle sensing signal of the anti-collision member 22 to the robot body 2 after the collision device 1 is connected to the robot body 2, so that the robot body 2 can perform corresponding avoidance actions. .
- the first signal interface 115 is disposed on a side of the first carrying portion 113 away from the first substrate 21 .
- the number of the first brackets 114 is two for schematic illustration.
- the two first brackets 114 protrude from the first bearing portion 113 in a direction away from the first base plate 21 , and the two first brackets 114 are oppositely disposed on two ends of the first bearing portion 113 .
- two movable connecting parts 11 are disposed opposite to two ends of the first carrying part 113 , and one connecting part 11 is correspondingly disposed adjacent to one first bracket 114 .
- the first signal interface 115 is disposed between the two first brackets 114 so that the first signal interface 115 can be protected by the two first connecting parts 11 to prevent the first signal interface 115 from being damaged.
- the first signal interface 115 is recessed in the first carrying portion 113 , which can further protect the first signal interface 115 .
- the first signal interface 115 is protruded from the first carrying portion 113 .
- the shape of the first signal interface 115 may be, but not limited to, square, circular, or sheet.
- the first signal interface 115 is protruded from the first bearing part 113 , and the first signal interface 115 is multi-piece for illustration.
- the collision device 1 includes a first base plate 21 , an anti-collision member 22 and a first connecting member 10 .
- the bumper 22 is connected to one side of the first substrate 21 .
- the first connecting part 10 is connected to the side of the first substrate 21 away from the anti-collision member 22.
- the first connecting part 10 includes two movable connecting parts 11 arranged opposite to each other.
- the connecting part 11 is used for detachable connection with the robot body 2.
- the first connecting member 10 further includes a first bearing portion 113 and a first bracket 114 .
- the first carrying portion 113 connects the side of the first substrate 21 away from the anti-collision member 22 and is used for carrying the two connecting portions 11 .
- the first bracket 114 protrudes from the first carrying portion 113 in a direction away from the first substrate 21 .
- the first connecting element 10 also includes a first signal interface 115 .
- the first signal interface 115 is disposed on the side of the first carrying portion 113 facing away from the first substrate 21 , and the first signal interface 115 is used for signal transmission.
- the collision device 1 further includes a signal lamp 23 .
- the signal light 23 is disposed on the anti-collision member 22 , and the signal light 23 is electrically connected to the first signal interface 115 .
- the signal lamp 23 is electrically connected to the first signal interface 115 .
- the first connecting member 10 When the first connecting member 10 is connected to the robot body 2 , the first signal interface 115 will be turned on, so that the signal light 23 is turned on. Therefore, in this embodiment, the signal light 23 can be used to judge whether the collision device 1 is connected to the robot body 2 correctly.
- FIG. 17 is a schematic cross-sectional view along line AA of another embodiment of the collision device provided by the embodiment in FIG. 11 .
- the collision device 1 includes a first base plate 21 , an anti-collision member 22 and a first connecting member 10 .
- the bumper 22 is connected to one side of the first substrate 21 .
- the first connecting part 10 is connected to the side of the first substrate 21 away from the anti-collision member 22.
- the first connecting part 10 includes two movable connecting parts 11 arranged opposite to each other.
- the connecting part 11 is used for detachable connection with the robot body 2. Install.
- the first connecting member 10 further includes a first bearing portion 113 and a first bracket 114 .
- the first carrying portion 113 connects the side of the first substrate 21 away from the anti-collision member 22 and is used for carrying the two connecting portions 11 .
- the first bracket 114 is on the back
- the first carrying portion 113 protrudes from the direction away from the first substrate 21 .
- the first connecting element 10 also includes a first signal interface 115 .
- the first signal interface 115 is disposed on the side of the first carrying portion 113 facing away from the first substrate 21 , and the first signal interface 115 is used for signal transmission.
- the anti-collision member 22 further includes a second bearing part 221 , a movable part 222 and at least one collision sensor 24 .
- the second carrying portion 221 is fixedly connected to the first substrate 21 .
- the movable part 222 is disposed on a side of the second carrying part 221 away from the first substrate 21 .
- the movable part 222 is movably connected with the second carrying part 221 .
- the collision sensor 24 is disposed on the second bearing part 221 , and the collision sensor 24 is used for sending an induction electrical signal when the movable part 222 moves toward the second bearing part 221 and touches the collision sensor 24 .
- the first connector 10 is electrically connected to the robot body 2 and the collision sensor 24. When the collision sensor 24 sends out an electric induction signal, the collision sensor 24 transmits the collision sensor 24 to the robot body 2 through the first connector 10. There is a signal of an obstacle ahead, so that the robot 1000 avoids the obstacle.
- the number of collision sensors 24 is two. In other embodiments, the number of collision sensors 24 can also be one, or three, or four or more. Applications are not limited to this.
- the two collision sensors 24 include a first switch 241 and a second switch 242 .
- the first switch 241 is arranged on the side of the second bearing part 221 away from the first substrate 21, and the first switch 241 is arranged on the end of the second bearing part 221 far away from the first connector 10, and the first switch 241 is electrically connected to the first signal interface.
- the second switch 242 and the first switch 241 are disposed on the same side of the second carrying portion 221 , and the second switch 242 is away from the first switch 241 relative to the first connecting member 10 , and the second switch 242 is electrically connected to the first signal interface 115 .
- a first switch 241 and a second switch 242 are respectively provided at opposite ends of the second carrying portion 221 .
- the first switch 241 and the second switch 242 are respectively electrically connected to the first signal interface 115 .
- the collision device 1 is connected to the robot body 2, when the first switch 241 touches an obstacle, the first switch 241 will be triggered, and the first switch 241 transmits the first switch to the robot body 2 through the first signal interface 115.
- the second switch 242 touches an obstacle
- the second switch 242 will be triggered, and the second switch 242 transmits a signal that there is an obstacle on one side of the second switch 242 to the robot body 2 through the first signal interface 115, so that The robot 1000 avoids obstacles.
- the first switch 241 and the second switch 242 are triggered by obstacles at the same time, the first switch 241 and the second switch 242 will transmit the signal that there is an obstacle directly in front of the collision device 1 to the robot body 2 through the first signal interface 115, thereby Make the robot 1000 avoid obstacles.
- FIG. 18 is a schematic cross-sectional view along line AA of another embodiment of the collision device provided in the embodiment of FIG. 11 .
- the collision device 1 includes a first base plate 21 , an anti-collision member 22 and a first connecting member 10 .
- the bumper 22 is connected to one side of the first substrate 21 .
- the first connecting part 10 is connected to the side of the first substrate 21 away from the anti-collision member 22.
- the first connecting part 10 includes two movable connecting parts 11 arranged opposite to each other.
- the connecting part 11 is used for detachable connection with the robot body 2. Install.
- the first connecting member 10 further includes a first bearing portion 113 and a first bracket 114 .
- the first carrying portion 113 connects the side of the first substrate 21 away from the anti-collision member 22 and is used for carrying the two connecting portions 11 .
- the first bracket 114 protrudes from the first carrying portion 113 in a direction away from the first substrate 21 .
- the first connecting element 10 also includes a first signal interface 115 .
- the first signal interface 115 is disposed on the side of the first carrying portion 113 facing away from the first substrate 21 , and the first signal interface 115 is used for signal transmission.
- the anti-collision member 22 further includes a second bearing part 221 , a movable part 222 , a first switch 241 and a second switch 242 .
- the second carrying portion 221 is fixedly connected to the first substrate 21 .
- the movable part 222 is disposed on a side of the second carrying part 221 away from the first substrate 21 .
- the movable part 222 is movably connected with the second carrying part 221 .
- the first switch 241 is disposed on the side of the second carrying portion 221 away from the first substrate 21 , and the first switch 241 is disposed on the end of the second carrying portion 221 away from the first connector 10 , and the first switch 241 is electrically connected to the first signal interface.
- the second switch 242 and the first switch 241 are disposed on the same side of the second carrying portion 221 , and the second switch 242 is far away from the first switch 241 relative to the first connecting member 10 , and the second switch 242 is electrically connected to the first signal interface 115 .
- the anti-collision member 22 further includes a second elastic member 25 .
- the movable part 222 is disposed on a side of the second carrying part 221 away from the first substrate 21 .
- the second elastic member 25 is disposed between the second bearing portion 221 and the movable portion 222, and one end of the second elastic member 25 abuts against the second bearing.
- the carrying part 221 has the other end contacting the movable part 222 .
- the second elastic member 25 is elastically connected to the movable part 222 and the second bearing part 221 .
- the second elastic member 25 is arranged between the second bearing part 221 and the movable part 222, so as to buffer the moving speed of the movable part 222 towards the second bearing part 221 when the working structure 20 is hit, and avoid the contact between the movable part 222 and the second bearing part 221. Damage occurred.
- the movable part 222 is connected to the second bearing part 221 through one or more second elastic members 25 .
- the movable part 222 can approach or move away from the second bearing part 221 through the second elastic member 25 .
- the movable part 222 touches an obstacle, it compresses the second elastic member 25 and moves toward the second bearing part 221 to touch at least one of the first switch 241 and the second switch 242 .
- the movable part 222 breaks away from the obstacle, due to the elastic restoring force of the second elastic member 25 acting on the movable part 222, the movable part 222 moves toward the direction away from the second bearing part 221, so that the movable part 222 is separated from the first switch.
- the movable part 222 itself plays a shielding role, further protecting the first switch 241 and the second switch 242 .
- obstacles in a wider range can be identified through the movable part 222 .
- the elastic coefficient of the first elastic member 31 is less than or equal to the elastic coefficient of the second elastic member 25, when the working structure 20 hits an obstacle, when the collision force exceeds a preset value, so that The deflection of the working structure 20 is buffered by the first elastic member 31 and the deflection of the working structure 20 to reduce the rigid force of the collision device 1 during collision.
- the elastic coefficient of the second elastic member 25 is less than or equal to the elastic coefficient of the first elastic member 31, and when the working structure 20 hits an obstacle, it is buffered by the second elastic member 25 to absorb Part of the collision force, when the collision force exceeds a preset value, causes the deflection of the working structure 20 to be buffered by the first elastic member 31 and the deflection of the working structure 20 to reduce the rigid force of the collision device 1 during collision.
- FIG. 19 is a schematic diagram of cooperation between the first connector and the second connector in the robot provided by the embodiment of the present application.
- the robot 1000 includes the collision device 1 and the robot body 2 as in any of the foregoing embodiments.
- the collision device 1 is detachably installed on the robot body 2 .
- the robot body 2 includes a second connecting piece 510 which is detachably connected to the first connecting piece 10 .
- the robot 1000 is used for automatic operations, and the robot 1000 may be, but not limited to, a mowing robot, a harvesting robot, or a medicine spraying robot.
- the robot 1000 is used as a lawnmowing robot for schematic illustration.
- the collision device 1 is detachably connected to the robot body 2 through the first connecting piece 10 and the second connecting piece 510, so that the collision device 1 can be quickly installed and disassembled, which is beneficial to the collision device 1. maintenance and repair.
- FIG. 20 is a partially enlarged schematic diagram of an implementation at II in the implementation in FIG. 19 .
- the robot 1000 includes the collision device 1 and the robot body 2 as in any of the foregoing embodiments.
- the robot body 2 includes a second connecting piece 510 which is detachably connected to the first connecting piece 10 .
- the second connecting member 510 includes two fixed connecting parts 511 arranged opposite to each other. The fixed connecting parts 511 are mated with the connecting part 11 and can be used to detachably connect the collision device 1 to the robot body 2 .
- the fixed connection part 511 is used to cooperate with the connection part 11 , so that the first connection part 10 is connected with the second connection part 510 , so as to realize the connection between the collision device 1 and the robot body 2 .
- the fixed connection part 511 may be provided with a groove matching with the protrusion on the engaging part 1112 .
- FIG. 21 is a partially enlarged schematic diagram of another implementation at II in the implementation in FIG. 19 .
- the robot 1000 includes the collision device 1 and the robot body 2 as in any of the foregoing embodiments.
- the robot body 2 includes a second connecting piece 510 which is detachably connected to the first connecting piece 10 .
- the second connecting piece 510 when the first connecting piece 10 includes the first bracket 114 , the second connecting piece 510 also includes the second bracket 512 .
- the second bracket 512 is matched with the first bracket 114 .
- the second bracket 512 is partly recessed in the robot body 2, thereby forming a cooperation with the first bracket 114, so as to strengthen the connection between the collision device 1 and the robot body 2 by cooperating with the first bracket 114. stability.
- the first bracket 114 is a tapered structure, and the outer diameter of the end of the first bracket 114 away from the first bearing part 113 is smaller than the outer diameter of the end close to the first bearing part 113 .
- the second bracket 512 is a tapered hole structure that is mated with the first bracket 114 for mating connection with the first bracket 114 .
- the first bracket 114 has two tapered grooves arranged opposite to each other, and the inner diameter of the tapered groove on the first bracket 114 away from the first bearing part 113 is larger than the inner diameter of the end close to the first bearing part 113 .
- the inside of the second bracket 512 has a convex tapered structure that fits with the groove of the first bracket 114 with a tapered structure to limit the first bracket 114, thereby strengthening the cooperation between the first connecting piece 10 and the second connecting piece 510 stability, that is, to strengthen the stability of the connection between the collision device 1 and the robot body 2 .
- the robot 1000 includes the collision device 1 and the robot body 2 as in any of the foregoing embodiments.
- the robot body 2 includes a second connecting piece 510 which is detachably connected to the first connecting piece 10 .
- the second connecting member 510 also includes a second bracket 512 .
- the second bracket 512 is matched with the first bracket 114 .
- the second connecting part 510 when the first connecting part 10 includes the first signal interface 115 , the second connecting part 510 also includes a second signal interface 513 .
- the second signal interface 513 is electrically connected to the first signal interface 115 to receive a trigger signal.
- at least one of the first switch 241 and the second switch 242 is triggered to generate a trigger signal when the collision device 1 collides with an obstacle.
- the robot 1000 also includes a central control system 60 .
- the central control system 60 is electrically connected to the second signal interface 513, and the central control system 60 is used to control the movement of the robot body 2 according to the trigger signal to avoid obstacles.
- the second signal interface 513 is electrically connected to the first signal interface 115 , so that the central control system 60 can receive a trigger signal from the second signal interface 513 .
- the robot 1000 is illustrated by taking the robot 1000 as an example of a lawnmower.
- the movable part 222 touches the obstacle on the first switch 241 side, the movable part 222 will move relative to the second bearing part 221 through the second elastic member 25 on the first switch 241 side.
- the first switch 241 When one side of the switch 241 abuts against the first switch 241, the first switch 241 will be triggered, and the first switch 241 transmits a signal that there is an obstacle on the side of the first switch 241 to the central control system 60 through the first signal interface 115 and the second signal interface 513 .
- the central control system 60 controls the robot body 2 to stop mowing, move back and move towards the second switch 242 side, so as to avoid obstacles on the first switch 241 side and continue mowing grass.
- the movable part 222 touches the obstacle on the second switch 242 side, the movable part 222 will move relative to the second bearing part 221 through the second elastic member 25 on the second switch 242 side.
- the second switch 242 will be triggered, and the second switch 242 transmits a signal that there is an obstacle on the side of the second switch 242 to the central control system 60 through the first signal interface 115 and the second signal interface 513 .
- the central control system 60 controls the robot body 2 to stop mowing, move backward and move toward the first switch 241 side, so as to avoid obstacles on the second switch 242 side and continue mowing grass. Specifically, when the middle part of the movable part 222 touches an obstacle, the movable part 222 will move relative to the second bearing part 221 through the second elastic member 25, and when the movable part 222 touches the first switch 241 and the second switch 242 Then the first switch 241 and the second switch 242 will be triggered, and at least one of the first switch 241 and the second switch 242 will transmit the signal that there is an obstacle directly in front of the robot 1000 to the central control through the first signal interface 115 and the second signal interface 513 system60. The central control system 60 controls the robot body 2 to stop mowing, retreat and turn towards the non-mowing area, so as to avoid obstacles directly in front of the robot 1000 and continue mowing.
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Abstract
本申请提供一种碰撞装置(1)及机器人(1000)。碰撞装置(1)包括第一连接件(10)、工作结构(20)以及第一弹性件(31),第一连接件(10)固定连接机器人本体(2),工作结构(20)设于第一连接件(10)背离机器人本体(2)的一侧,第一弹性件(31)位于第一连接件(10)与工作结构(20)之间,第一弹性件(31)在工作结构(20)受到撞击时发生形变。本申请的碰撞装置(1)的第一弹性件(31)在工作结构(20)受到撞击时会发生弹性形变,进而使得工作结构(20)相对于第一连接件(10)发生偏转,能够将工作结构(20)受到的撞击力进行卸力,降低碰撞装置(1)接触到障碍物时发生损坏的概率。
Description
本申请涉及机器人领域,具体涉及一种碰撞装置及机器人。
随着科技的发展,机器人的类型以及功能也越来越多。对于务农作业越来越多地采用机器人代替人工进行作业,例如采用割草机进行割草。相关技术的割草机在进行作业时通常需要安装碰撞装置,碰撞装置可用于探测障碍物以及防止割草机的机器本体受到碰撞发生损坏,但是,目前的碰撞装置受到碰撞时同样容易发生损坏,进而需要更换碰撞装置,如何降低碰撞装置在接触到障碍物时发生损坏的概率成为需要解决的技术问题。
发明内容
本申请的目的在于提供一种碰撞装置及机器人,以解决如何降低碰撞装置在接触到障碍物时发生损坏的概率的技术问题。
第一方面,本申请提供了一种碰撞装置,用于安装于机器人本体上,所述碰撞装置包括:
第一连接件,固定连接所述机器人本体;
工作结构,设于所述第一连接件背离所述机器人本体的一侧;及
第一弹性件,位于所述第一连接件与所述工作结构之间,所述第一弹性件用于在所述工作结构受到撞击时发生形变。
本申请提供的碰撞装置中,第一连接件固定连接于机器人本体上,第一弹性件位于第一连接件与工作结构之间,第一弹性件可用于在工作结构受到撞击时发生形变。相较于相关技术的碰撞装置将第一连接件与工作结构进行固定连接的方式,本申请的碰撞装置具有第一弹性件,且第一弹性件在工作结构受到撞击时会发生弹性形变,进而使得工作结构相对于第一连接件发生偏转,能够将工作结构受到的撞击力进行卸力,降低碰撞装置接触到障碍物时发生损坏的概率。
其中,所述工作结构包括第一基板和设置于所述第一基板背离所述第一连接件一侧的防撞件;
所述第一基板包括依次设置的第一支臂、安装部、第二支臂;
第一弹性件设置为至少一个,所述第一弹性件弹性抵接于所述安装部与所述第一连接件之间,且所述第一弹性件的设置方向与所述第一基板垂直或相交,所述第一支臂或第二支臂受到撞击时所述第一基板发生偏转。
其中,所述第一弹性件设置为两个,两个所述第一弹性件沿所述工作结构的延伸方向并排设置。
其中,所述第一基板上设有至少一个第一通孔;
所述第一连接件包括第一承载部及第一固定件,所述第一固定件贯穿所述第一通孔,所述第一固定件的一端固定连接所述第一承载部上,另一端设有第一阻挡部;
所述第一弹性件套设于所述第一固定件;所述第一弹性件的一端抵接所述第一阻挡部,
另一端抵接所述第一基板。
其中,所述第一通孔为条形孔,所述第一通孔的延伸方向与所述第一基板的延伸方向相同。
其中,所述第一连接件包括第二基板,所述第二基板上设有至少一个第二通孔,所述工作结构还包括第二固定件,所述第二固定件经所述第二通孔固定于所述第一基板,所述第二固定件背离所述第二基板的一端设有第二阻挡部,所述第一弹性件套设于所述第二固定件,且所述第一弹性件的一端抵接所述第二阻挡部,另一端抵接所述第二基板。
其中,所述碰撞装置还包括转动组件,所述转动组件设于所述工作结构与所述第一连接件之间,所述转动组件包括第一配合部及第二配合部,所述第一配合部设于所述工作结构上,所述第二配合部设于所述第一连接件上,所述第一配合部用于在所述工作结构相对所述第一连接件发生偏转时可相对所述第二配合部转动。
其中,所述第一配合部和所述第二配合部中的一者为球铰支座,另一者为球铰;或,所述第一配合部和所述第二配合部中的一者为枢轴支座,另一者为转动件;或,所述第一配合部和所述第二配合部中的一者为扭簧支座,另一者为转动件。
其中,所述工作结构包括:
第一基板;
防撞件,所述防撞件连接于所述第一基板的一侧;所述第一连接件连接于所述第一基板背离所述防撞件的一侧,所述第一连接件包括相背设置的可活动的两个连接部,所述连接部用于和所述机器人本体可拆卸安装。
其中,所述第一连接件还包括:
第一承载部,所述第一承载部连接所述第一基板背离所述防撞件的一侧,且用于承载两个所述连接部;以及
第一支架,所述第一支架在背离所述第一基板方向凸设于所述第一承载部。
其中,两个所述连接部相背一侧分别开设有收容空间,所述连接部部分收容于所述收容空间中;
所述连接部包括按压部、卡接部、弹性压缩部及旋转部;所述弹性压缩部位于所述收容空间邻近所述按压部一侧的侧壁和所述按压部之间,所述按压部连接于所述卡接部,所述卡接部邻近所述按压部的一端与所述旋转部配合连接,且所述卡接部可相对所述旋转部转动,所述卡接部用于与所述机器人本体卡接。
其中,所述第一连接件还包括第一信号接口,所述第一信号接口设于所述第一承载部背离所述第一基板一侧,所述第一信号接口用于信号传输。
其中,所述碰撞装置还包括:
信号灯,所述信号灯设于所述防撞件上,且所述信号灯与所述第一信号接口电连接。
其中,所述防撞件还包括:
第二承载部,所述第二承载部固定连接于所述第一基板;
第一开关,所述第一开关设于所述第二承载部背离所述第一基板一侧,且所述第一开关设于所述第二承载部远离所述第一连接件的一端,所述第一开关电连接所述第一信号接口;以及
第二开关,所述第二开关与所述第一开关设于所述第二承载部同一侧,且所述第二开关相对于所述第一连接件远离所述第一开关,所述第二开关电连接所述第一信号接口。
其中,所述防撞件还包括:
活动部,所述活动部设于所述第二承载部背离所述第一基板一侧;以及
第二弹性件,所述第二弹性件弹性连接所述活动部及第二承载部。
第二方面,本申请提供了一种机器人,所述机器人包括:
任一如上所述的碰撞装置;以及
机器人本体,所述碰撞装置可拆卸地安装于所述机器人本体上。
其中,所述机器人本体包括第二连接件,所述第二连接件与所述第一连接件可拆卸连接,所述第一连接件包括连接部,所述第二连接件包括相背设置的两个固定连接部,所述固定连接部与所述连接部配合连接,可用于将所述碰撞装置与所述机器人本体可拆卸连接。
其中,所述机器人本体包括第二连接件,所述第二连接件与所述第一连接件可拆卸连接,所述第一连接件包括第一支架,所述第二连接件还包括:
第二支架,所述第二支架与所述第一支架配合连接。
其中,所述防撞件包括第二承载部、第一开关及第二开关,且所述第一连接件包括第一信号接口时,所述第二连接件还包括:
第二信号接口,所述第二信号接口与所述第一信号接口电连接以接收触发信号,其中,当所述碰撞装置碰撞到障碍物时触发所述第一开关及第二开关中的至少一者产生所述触发信号;
所述机器人还包括中央控制***,所述中央控制***与所述第二信号接口电连接,所述中央控制***用于根据所述触发信号控制所述机器人本体运动,以对障碍物进行避让。
为了更清楚地说明本申请实施例的技术方案,下面将对实施例中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。
图1是本申请实施方式一提供的一种机器人的结构示意图。
图2是本申请实施方式一提供的一种碰撞装置的***示意图。
图3是本申请实施方式一提供的一种碰撞装置的截面结构示意图。
图4是本申请实施方式一提供的一种第一基板的结构示意图。
图5是本申请实施方式二提供的一种碰撞装置的结构示意图。
图6是本申请在一些实施方式提供的一种碰撞装置的部分结构示意图。
图7是本申请实施方式三提供的一种碰撞装置的结构示意图。
图8是本申请实施方式四提供的一种碰撞装置的结构示意图。
图9是本申请实施方式五提供的一种碰撞装置的结构示意图。
图10是本申请实施方式五提供的一种碰撞装置的部分结构示意图。
图11为本申请一实施方式提供的碰撞装置的结构示意图。
图12为图11实施方式提供的碰撞装置中一实施方式沿A-A线的剖面示意图。
图13为图12实施方式提供的碰撞装置中I处的局部放大示意图。
图14为本申请另一实施方式提供的碰撞装置的结构示意图。
图15为本申请又一实施方式提供的碰撞装置的结构示意图。
图16为本申请又一实施方式提供的碰撞装置的结构示意图。
图17为图11实施方式提供的碰撞装置中另一实施方式沿A-A线的剖面示意图。
图18为图11实施方式提供的碰撞装置中又一实施方式沿A-A线的剖面示意图。
图19为本申请实施方式提供的机器人中第一连接件与第二连接件配合的示意图。
图20为图19实施方式中II处一实施方式的局部放大示意图。
图21为图19实施方式中II处另一实施方式的局部放大示意图。
图22为图19实施方式中II处又一实施方式的局部放大示意图。
图23为图22实施方式中机器人的触发信号传输的连接框图。
标号说明:机器人-1000、碰撞装置-1、机器人本体-2、第一连接件-10、连接部-11、按压部-1111、卡接部-1112、弹性压缩部-1113、旋转部-1114、收容空间-112、第一承载部-113、第一支架-114、第一信号接口-115、第一固定件-12、第一阻挡部-13、第二基板14、第二通孔15、第二固定件16、第二阻挡部17、工作结构-20、第一基板-21、第一支臂-211、第二支臂-212、安装部-213、第一通孔-214、防撞件-22、第二承载部221、活动部-222、信号灯-23、碰撞传感器-24、第一开关241、第二开关242、第二弹性件-25、第一弹性件-31、转动组件-40、第一配合部-41、扭簧-411、销轴-412、第二配合部-42、第二连接件-510、固定连接部-511、第二支架-512、第二信号接口-513、中央控制***-60。
下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本申请一部分实施例,而不是全部的实施例。基于本申请中的实施例,本领域普通技术人员在没有付出创造性劳动前提下所获得的所有其他实施例,都属于本申请保护的范围。
在本文中提及“实施例”或“实施方式”意味着,结合实施例或实施方式描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例,也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是,本文所描述的实施例可以与其它实施例相结合。
需要说明的是,本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别不同对象,而不是用于描述特定顺序。此外,术语“包括”和“具有”以及它们任何变形,意图在于覆盖不排他的包含。
在本说明书中,为了方便起见,使用“中部”、“上”、“下”、“前”、“后”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示方位或位置关系的词句以参照附图说明构成要素的位置关系,仅是为了便于描述本说明书和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本公开的限制。构成要素的位置关系根据描述的构成要素的方向适当地改变。因此,不局限于在说明书中说明的词句,根据情况可以适当地更换。
在本说明书中,除非另有明确的规定和限定,术语“安装”、“相连”、“连接”应做广义理解。例如,可以是固定连接,或可拆卸连接,或一体地连接;可以是机械连接,或电连接;可以是直接相连,或通过中间件间接相连,或两个元件内部的连通。对于本领域的普通技术人员而言,可以根据情况理解上述术语在本公开中的含义。
随着科技的发展,机器人的类型以及功能也越来越多。对于务农作业越来越多地采用机器人代替人工进行作业,例如采用割草机进行割草。相关技术的割草机在进行作业时通常需要安装碰撞装置,碰撞装置可用于探测障碍物以及防止割草机的机器本体受到碰撞发生损坏,
但是,目前的碰撞装置受到碰撞时同样容易发生损坏,进而需要更换碰撞装置,如何降低碰撞装置在接触到障碍物时发生损坏的概率成为需要解决的技术问题。
请参照图1,图1是本申请实施方式一提供的一种机器人的结构示意图。本申请提供了一种机器人1000,包括机器人本体2及碰撞装置1,碰撞装置1用于防止机器人本体2受到碰撞。
请参照图1及图2,图2是本申请实施方式一提供的一种碰撞装置的***示意图。本申请提供了一种碰撞装置1,用于安装于机器人本体2上,碰撞装置1包括第一连接件10、工作结构20以及第一弹性件31。第一连接件10固定连接机器人本体2。工作结构20设于第一连接件10背离机器人本体2的一侧。第一弹性件31位于第一连接件10与工作结构20之间,第一弹性件31用于在工作结构20受到撞击时发生形变。其中,第一弹性件31可以弹性抵接于第一连接件10与工作结构20之间,或者,第一弹性件31的一端连接于第一连接件10,另一端连接于工作结构20。
碰撞装置1用于安装于机器人本体2上。可选地,在本实施方式中,机器人1000为割草机器人,机器人本体2为割草机本体。在其他实施方式中,机器人1000也可以为其他类型的机器人,例如农药喷洒机器人、农作物收割机器人等,以上皆属于本申请的实施方式,不应理解为对本申请的限制。
工作结构20设于第一连接件10背离机器人本体2的一侧,且机器人本体2、第一连接件10以及工作结构20沿机器人本体2的前进方向依次设置,当机器人本体2的行进方向上具有障碍物时,工作结构20首先碰到障碍物,以避免机器人本体2碰到障碍物使其发生损坏。并且工作结构20首先碰到障碍物,能够在机器人本体2执行路径规划时识别障碍物,并指示其它结构件作出相应的避障措施。
碰撞装置1还包括第一连接件10,第一连接件10固定连接于机器人本体2上,第一连接件10与机器人本体2可拆卸安装。在本实施方式中,第一连接件10通过卡扣连接的方式与机器人本体2进行安装,在其他实施方式中,第一连接件10也可以通过其他固定连接方式与机器人本体2固定连接,例如粘接、螺纹连接或其他连接方式。因碰撞装置1与机器人本体2为可拆卸安装,当碰撞装置1撞击障碍物时,若工作结构20发生损坏,可以将碰撞装置1拆卸下来进行修复或更换,不需要对机器人本体2进行修复。
第一弹性件31弹性连接于第一连接件10与工作结构20之间,第一弹性件31用于在工作结构20受到撞击时发生形变。第一弹性件31发生形变的同时,能够使得工作结构20相对于第一连接件10发生偏转。
本申请提供的碰撞装置1中,第一连接件10固定连接于机器人本体2上,第一弹性件31弹性连接于第一连接件10与工作结构20之间,第一弹性件31可用于在工作结构20受到撞击时发生形变。其中,第一弹性件31可以弹性抵接于第一连接件10与工作结构20之间。相较于相关技术的碰撞装置将第一连接件与工作结构进行固定连接的方式,本申请的碰撞装置1具有第一弹性件31,且第一弹性件31在工作结构20受到撞击时会发生弹性形变,进而使得工作结构20相对于第一连接件10发生偏转,能够对工作结构20受到的撞击力进行卸力,降低碰撞装置1接触到障碍物时发生损坏的概率。
请参照图1至图4,图3是本申请实施方式一提供的一种碰撞装置的截面结构示意图,图4是本申请实施方式一提供的一种第一基板的结构示意图。工作结构20包括第一基板21。第一基板21包括依次设置的第一支臂211、安装部213、第二支臂212。安装部213位于第一支臂211和第二支臂212之间。
第一弹性件31设置为至少一个。第一弹性件31弹性抵接于安装部213与第一连接件10之间,且第一弹性件31的设置方向与第一基板21垂直或相交,第一基板21相对第一连接件10可偏转。其中,第一支臂211或第二支臂212受到撞击时第一基板21相对第一连接件10可发生偏转。例如,第一弹性件31可以配置为弹簧,第一弹性件31的设置方向可以为弹簧的中轴线方向,弹簧的中轴线方向与第一基板21的延伸方向垂直或相交,第一基板21的延伸方向可以为第一支臂211朝向第二支臂212的方向或第二支臂212朝向第一支臂211的方向。
可选地,在本实施方式中,第一弹性件31设于第一基板21背离第一连接件10的一侧,在另一实施方式中,请参照图1及图5,图5是本申请实施方式二提供的一种碰撞装置的结构示意图。第一弹性件31还能设于第一基板21与第一连接件10之间,第一弹性件31的一端与第一连接件10连接,另一端与工作结构20中的第一基板21连接。其中,只要能满足第一弹性件31能够发生弹性形变并使工作结构20相对于第一连接件10发生偏转即可,不应理解为对本申请的限制。
具体地,若第一支臂211为图中左臂,第二支臂212为图中右臂,当工作结构20对应第一支臂211的区域碰到障碍物时,第一支臂211受到撞击并朝向靠近机器人本体2的方向移动,第二支臂212朝向背离机器人本体2的方向移动,第一基板21整体相对第一连接件10发生沿逆时针方向的偏转。当工作结构20对应第二支臂212的区域碰到障碍物时,第二支臂212受到撞击并朝向靠近机器人本体2的方向移动,第一支臂211朝向背离机器人本体2的方向移动,第一基板21整体相对第一连接件10发生沿顺时针方向的偏转。当工作结构20所碰撞的障碍物与工作结构20间隔时,发生偏转的工作结构20因第一弹性件31的形变恢复而复位。
需要说明的是,第一弹性件31的数量可以为1个、2个、或3个、或4个、或大于4个的数量,本申请仅以第一弹性件31的数量为2个进行举例说明,不应理解为对本申请的限制。
请参照图1至图4,在一种实施方式中,第一弹性件31设于工作结构20内。第一基板21上设有至少一个第一通孔214。
第一连接件10包括第一承载部113及第一固定件12,第一固定件12贯穿第一通孔214,第一固定件12的一端固定连接于第一承载部113上,另一端设有第一阻挡部13。
第一弹性件31套设于第一固定件12。第一弹性件31位于第一连接件10的第一阻挡部13与工作结构20的第一基板21之间。第一弹性件31的一端抵接第一阻挡部13,另一端抵接第一基板21。
第一固定件12可用于固定第一弹性件31,第一弹性件31套设于第一固定件12,当第一弹性件31发生弹性形变时,第一固定件12可用于对第一弹性件31弹性形变的延伸方向进行导向,避免第一弹性件31发生不利的弯折现象。在本实施方式中,第一弹性件31设置为两个,以增强碰撞装置1的弹性复位能力,使碰撞装置1能够更好地对工作结构20受到的撞击力进行卸力,降低碰撞装置1接触到障碍物时发生损坏的概率。两个第一弹性件31沿工作结构20的延伸方向并排设置。其中,工作结构20的延伸方向平行于第一基板21的延伸方向。工作结构20相对第一连接件10可偏转,且工作结构20的偏转轴位于两个第一弹性件31之间。如此,工作结构20相对第一连接件10偏转时,在两个第一弹性件31弹性力的作用下,工作结构20将具有更好的抗撞击能力以及撞击之后的复位能力。
第一固定件12相应设置为两个,两个第一弹性件31分别套设于两个第一固定件12上。两个第一弹性件31中的一个靠近第一支臂211设置,另一个靠近第二支臂212设置。在第一
支臂211受到撞击并朝向靠近机器人本体2的方向移动时,靠近第二支臂212设置的第一弹性件31被第二支臂212挤压,并发生变形;在第二支臂212受到撞击并朝向靠近机器人本体2的方向移动时,靠近第一支臂211设置的第一弹性件31被第一支臂211挤压,并发生变形。
第一固定件12固定于第一承载部113上,在本实施方式中,第一固定件12为螺栓,第一连接件10上设有螺纹孔,第一固定件12与第一连接件10通过螺纹连接的方式进行固定,在其他实施方式中,第一固定件12还可以通过其他方式固定于第一承载部113上,本申请对此不作限定。
在本实施方式中,第一阻挡部13为挡片,且第一弹性件31的一端抵接第一阻挡部13时,第一阻挡部13抵接第一固定件12的一端。在其他实施方式中,第一固定件12为螺栓时,第一阻挡部13也可以为螺栓的螺帽,只需要满足第一弹性件31的一端能够抵接螺帽即可。
第一通孔214为条形孔,第一通孔214的延伸方向与第一基板21的延伸方向相同。
换言之,当工作结构20相对第一连接件10发生偏转时,工作结构20在水平方向也会发生一定的位移。第一通孔214为条形孔,即可以为工作结构20在水平方向发生位移时提供移动空间,进而便于工作结构20相对于第一连接件10发生偏转。
请参阅图6,图6是本申请在一些实施方式提供的一种碰撞装置的部分结构示意图。在另一种实施方式中,第一弹性件31设于第一连接件10内。与上述实施方式中的结构类似。第一连接件10包括第二基板14,第二基板14上设有至少一个第二通孔15,工作结构20还包括第二固定件16,第二固定件16经第二通孔15固定于第一基板21,第二固定件16背离第二基板14的一端设有第二阻挡部17,第二基板14位于第二阻挡部17和第一基板21之间,第一弹性件31套设于第二固定件16,第一弹性件31位于第一连接件10的第二基板14与工作结构20的第二阻挡部17之间,且第一弹性件31的一端抵接第二阻挡部17,另一端抵接第二基板14。
同样的,第二固定件16可用于固定第一弹性件31,第一弹性件31套设于第二固定件16,当第一弹性件31发生弹性形变时,第二固定件16可用于对第一弹性件31弹性形变的延伸方向进行导向,避免第一弹性件31发生不利的弯折现象。
第二固定件16固定于工作结构20上,在本实施方式中,第二固定件16为螺栓,工作结构20上设有螺纹孔,第二固定件16与工作结构20通过螺纹连接的方式进行固定,在其他实施方式中,第二固定件16还可以通过其他方式固定于工作结构20上,本申请对此不作限定。
在本实施方式中,第二阻挡部17为挡片,且第一弹性件31的一端抵接第二阻挡部17时,第二阻挡部17抵接第二固定件16的一端。在其他实施方式中,第二固定件16为螺栓时,第二阻挡部17也可以为螺栓的螺帽,只需要满足第一弹性件31的一端能够抵接螺帽即可。
第二通孔15为条形孔,第二通孔15的延伸方向与第二基板14的延伸方向相同。其中,第二基板14的延伸方向可以平行于第一基板21的延伸方向。
在本实施方式中,工作结构20相对于第一连接件10进行偏转,即必然存在偏转轴。但当工作结构20的左侧以及右侧受到撞击时的偏转轴不同,且工作结构20在偏转的过程中会与第一连接件10进行摩擦,增大第一连接件10与工作结构20的磨损程度,降低其使用寿命。
请参照图3、图7及图8,图7是本申请实施方式三提供的一种碰撞装置的结构示意图。在一种实施方式中,图8是本申请实施方式四提供的一种碰撞装置的结构示意图。碰撞装置1还包括转动组件40,转动组件40设于工作结构20与第一连接件10之间,转动组件40包括第一配合部41及第二配合部42,第一配合部41设于工作结构20上,第二配合部42设于第一连接件10上,第一配合部41用于在工作结构20相对第一连接件10发生偏转时可相对
第二配合部42转动。
工作结构20与第一连接件10之间增设转动组件40,当工作结构20遇到障碍物并相对第一连接件10发生偏转时,转动组件40可以便于工作结构20进行转动,且偏转轴与转动组件40重叠,从而使得工作结构20相对于第一连接件10发生偏转时不用与第一连接件10发生直接接触。第一配合部41与第二配合部42可以设置为适合转动的结构组件,以提高碰撞装置1的使用寿命。
请参照图7,在一种实施方式中,第一配合部41和第二配合部42中的一者为球铰支座,另一者为球铰。请参照图8,在另一种实施方式中,也可以为第一配合部41和第二配合部42中的一者为枢轴支座,另一者为转动件。本申请对于转动组件40的转动结构不作限定,只要满足当工作结构20发生偏转时进行转动即可。
请参照图9及图10,图9是本申请实施方式五提供的一种碰撞装置的结构示意图,图10是本申请实施方式五提供的一种碰撞装置的部分结构示意图。在又一种实施方式中,第一配合部41为扭簧支座,第二配合部42为转动件。具体的,第一配合部41包括扭簧411及销轴412,扭簧411穿设于销轴412,且扭簧411的一端抵接第一基板21,另一端用于抵接第二配合部42。在本实施方式中,进一步地,扭簧411的数量为2,且扭簧411的设置方向相反。第二配合部42设于两个扭簧411之间。在工作结构20相对第一连接件10发生转动时,工作结构20绕销轴412转动,扭簧411与第二配合部42抵接,通过扭簧411的弹性力可以对工作结构20受到的至少部分碰撞力进行卸力,以提高碰撞装置1的使用寿命。
请参照图11及图12,图11为本申请一实施方式提供的碰撞装置的结构示意图;图12为图11实施方式提供的碰撞装置中一实施方式沿A-A线的剖面示意图。在本实施方式中,工作结构20包括第一基板21和防撞件22。防撞件22连接于第一基板21的一侧。第一连接件10连接于第一基板21背离防撞件120的一侧,第一连接件10包括相背设置的可活动的两个连接部11,连接部11用于和机器人本体2可拆卸安装。
在本实施方式中,碰撞装置1用于安装于自动化设备,例如割草机器人、农药喷洒机器人或者农作物收割机器人等。碰撞装置1起到防止自动化设备的本体在进行作业时直接碰撞到障碍物而发生损坏,具体地,碰撞装置1用于识别障碍物,并将识别障碍物的信号传递至自动化设备,以让自动化设备对障碍物进行避让。
在本实施方式中,防撞件22用于识别障碍物。防撞件22可以但不限于通过超声波传感器、激光传感器、压力传感器或者接触类传感器等方式进行障碍物识别。
在本实施方式中,第一连接件10包括相背设置的可活动的两个连接部11,连接部11用于和机器人本体2可拆卸安装。在本实施方式中,连接部11可以但不限于通过卡接、粘接或者螺栓等方式与机器人本体2进行可拆卸连接。需要说明的是,在本实施方式中以连接部11通过卡接的方式进行示意说明。
请参照图13,图13为图12实施方式提供的碰撞装置中I处的局部放大示意图。在本实施方式中,第一连接件10具有收容空间112。连接部11部分收容于收容空间112中。具体地,两个连接部11相背的一侧分别开设有收容空间112。连接部11包括按压部1111、卡接部1112、弹性压缩部1113及旋转部1114。按压部1111与弹性压缩部1113的一端抵接使得弹性压缩部1113弹性抵接按压部1111,且按压部1111连接于卡接部1112的一端。卡接部1112邻近按压部1111的一端与旋转部1114配合连接,使得卡接部1112可相对于旋转部1114转动。卡接部1112用于与机器人本体2卡接。其中,卡接部1112背离按压部1111的一端具有朝向另一个连接部11凸起的结构。
弹性压缩部1113位于收容空间112邻近按压部1111一侧的侧壁和按压部1111之间。示例性地,弹性压缩部1113与旋转部1114配合连接,且弹性压缩部1113背离按压部1111的一端弹性抵接第一连接件10形成收容空间112中与按压部1111相对、且邻近旋转部1114一侧的侧壁。在一些实施方式中,弹性压缩部1113还可以位于收容空间112邻近按压部1111一侧的侧壁和按压部1111之间,弹性压缩部1113的一端与收容空间112邻近按压部1111一侧的侧壁抵接,另一端与按压部1111抵接。在本实施方式中,碰撞装置1分为安装和拆卸两个过程,接下来对碰撞装置1安装和拆卸的过程进行详细描述。
在本实施方式中,碰撞装置1安装至机器人本体2的具体过程如下。通过按压按压部1111使得卡接部1112相对于旋转部1114转动,两个卡接部1112具有凸起结构的一端相背运动,从而可以将两个卡接部1112具有凸起结构的一端连接至机器人本体2。当撤去按压按压部1111的力后,弹性压缩部1113由于弹性恢复而产生的力使得卡接部1112相对于旋转部1114转动,两个卡接部1112具有凸起结构的一端相向运动直至抵接机器人本体2,从而卡接至机器人本体2,进而完成碰撞装置1快速安装至机器人本体2。
在本实施方式中,碰撞装置1从机器人本体2拆卸的具体过程如下。通过按压按压部1111使得卡接部1112相对于旋转部1114转动,两个卡接部1112具有凸起结构的一端相背运动,从而使得卡接部1112脱离机器人本体2,将碰撞装置1移走即可完成碰撞装置1快速从机器人本体2拆卸下来。
本申请提供了一种碰撞装置1,碰撞装置1包括第一基板21、防撞件22及第一连接件10,防撞件22连接于第一基板21的一侧,第一连接件10连接于第一基板21背离防撞件22的一侧,第一连接件10包括相背设置的可活动的两个连接部11,第一连接件10可通过可活动的两个连接部11快速与机器人本体2连接或脱离,从而实现碰撞装置的快速安装及拆卸。因此,碰撞装置1易于从机器人本体2上进行拆装,有利于碰撞装置1的定期维护,减少维护时拆卸及安装碰撞装置1的时间成本。此外,在碰撞装置1发生损坏时,可及时快速拆卸并更换新的碰撞装置1,以减少机器人1000停工所带来的经济损失。因此,本申请提供的碰撞装置1能够通过可活动的连接部11与机器人本体2进行快速简便的安装及拆卸,有利于碰撞装置1的维护及更换。
请参照图14,图14为本申请另一实施方式提供的碰撞装置的结构示意图。在本实施方式中,碰撞装置1包括第一基板21、防撞件22及第一连接件10。防撞件22连接于第一基板21的一侧。第一连接件10连接于第一基板21背离防撞件22的一侧,第一连接件10包括相背设置的可活动的两个连接部11,连接部11用于和机器人本体2可拆卸安装。此外,在本实施方式中,第一连接件10还包括第一承载部113及第一支架114。第一承载部113连接第一基板21背离防撞件22的一侧,且用于承载两个连接部11。第一支架114在背离第一基板21方向凸设于第一承载部113。
在本实施方式中,第一支架114的数量为一个或多个,第一支架114通过与机器人本体2配合,以增加第一连接件10与机器人本体2连接的稳定性,从而增加了碰撞装置1与机器人本体2之间连接的稳定性。
具体地,在本实施方式中,以第一支架114的数量为两个进行示意说明。两个第一支架114在背离第一基板21方向凸设于第一承载部113,且两个第一支架114相对设置于第一承载部113的两端。此外,两个可活动的连接部11相对设置于第一承载部113的两端,且一个连接部11对应邻近一个第一支架114设置,从而使得第一连接件10与机器人本体2连接时更加平衡稳定,进而增加了碰撞装置1与机器人本体2连接的稳定性。具体地,第一支架114
为锥形结构,且第一支架114远离第一承载部113一端的外径小于靠近第一承载部113一端的外径。此外,第一支架114具有两个相背设置的锥形结构的槽,且第一支架114上锥形结构的槽远离第一承载部113一端的内径大于靠近第一承载部113一端的内径。
请参照图15,图15为本申请又一实施方式提供的碰撞装置的结构示意图。在本实施方式中,碰撞装置1包括第一基板21、防撞件22及第一连接件10。防撞件22连接于第一基板21的一侧。第一连接件10连接于第一基板21背离防撞件22的一侧,第一连接件10包括相背设置的可活动的两个连接部11,连接部11用于和机器人本体2可拆卸安装。第一连接件10还包括第一承载部113及第一支架114。第一承载部113连接第一基板21背离防撞件22的一侧,且用于承载两个连接部11。第一支架114在背离第一基板21方向凸设于第一承载部113。此外,在本实施方式中,第一连接件10还包括第一信号接口115。第一信号接口115设于第一承载部113背离第一基板21一侧,第一信号接口115用于信号传输。
在本实施方式中,第一信号接口115在碰撞装置1与机器人本体2连接后用于将防撞件22的障碍物感应信号传输至机器人本体2,以使得机器人本体2能够进行相应的避让动作。
在本实施方式中,第一信号接口115设于第一承载部113背离第一基板21一侧。具体地,以第一支架114的数量为两个进行示意说明。两个第一支架114在背离第一基板21方向凸设于第一承载部113,且两个第一支架114相对设置于第一承载部113的两端。此外,两个可活动的连接部11相对设置于第一承载部113的两端,且一个连接部11对应邻近一个第一支架114设置。第一信号接口115设于两个第一支架114之间,使得第一信号接口115能够被两个第一连接部11保护,以防止第一信号接口115被损坏。此外,在一实施方式中,第一信号接口115凹设于第一承载部113,能够进一步保护第一信号接口115。在另一实施方式中,第一信号接口115凸设于第一承载部113。此外,第一信号接口115的形状可以但不限于为方形、圆形或片状等。在本实施方式中,以第一信号接口115凸设于第一承载部113,且第一信号接口115为多片状进行示意。
请参照图16,图16为本申请又一实施方式提供的碰撞装置的结构示意图。在本实施方式中,碰撞装置1包括第一基板21、防撞件22及第一连接件10。防撞件22连接于第一基板21的一侧。第一连接件10连接于第一基板21背离防撞件22的一侧,第一连接件10包括相背设置的可活动的两个连接部11,连接部11用于和机器人本体2可拆卸安装。第一连接件10还包括第一承载部113及第一支架114。第一承载部113连接第一基板21背离防撞件22的一侧,且用于承载两个连接部11。第一支架114在背离第一基板21方向凸设于第一承载部113。第一连接件10还包括第一信号接口115。第一信号接口115设于第一承载部113背离第一基板21一侧,第一信号接口115用于信号传输。此外,在本实施方式中,碰撞装置1还包括信号灯23。信号灯23设于防撞件22上,且信号灯23与第一信号接口115电连接。
在本实施方式中,信号灯23与第一信号接口115电连接。当第一连接件10连接至机器人本体2上时,第一信号接口115将会导通,从而使得信号灯23亮起。因此,在本实施方式中,信号灯23可用于判断碰撞装置1与机器人本体2是否正确连接。
请参照图2、图15及图17,图17为图11实施方式提供的碰撞装置中另一实施方式沿A-A线的剖面示意图。在本实施方式中,碰撞装置1包括第一基板21、防撞件22及第一连接件10。防撞件22连接于第一基板21的一侧。第一连接件10连接于第一基板21背离防撞件22的一侧,第一连接件10包括相背设置的可活动的两个连接部11,连接部11用于和机器人本体2可拆卸安装。第一连接件10还包括第一承载部113及第一支架114。第一承载部113连接第一基板21背离防撞件22的一侧,且用于承载两个连接部11。第一支架114在背
离第一基板21方向凸设于第一承载部113。第一连接件10还包括第一信号接口115。第一信号接口115设于第一承载部113背离第一基板21一侧,第一信号接口115用于信号传输。此外,在本实施方式中,防撞件22还包括第二承载部221、活动部222及至少一个碰撞传感器24。第二承载部221固定连接于第一基板21。活动部222设于第二承载部221背离第一基板21的一侧。活动部222与第二承载部221活动连接。碰撞传感器24设于第二承载部221上,碰撞传感器24用于在活动部222朝向第二承载部221移动并抵接碰撞传感器24时发出感应电信号。在本实施方式中,第一连接件10与机器人本体2以及碰撞传感器24电连接,当碰撞传感器24发出感应电信号时,碰撞传感器24通过第一连接件10向机器人本体2传输该碰撞传感器24前方具有障碍物的信号,从而使得机器人1000对障碍物进行避让。
可选地,在本实施方式中,碰撞传感器24的数量为两个,在其他实施方式中,碰撞传感器24的数量也可以为一个、或三个、或四个或四个以上的数量,本申请对此不作限定。
在本实施方式中,两个碰撞传感器24包括第一开关241及第二开关242。第一开关241设于第二承载部221背离第一基板21一侧,且第一开关241设于第二承载部221远离第一连接件10的一端,第一开关241电连接第一信号接口115。第二开关242与第一开关241设于第二承载部221同一侧,且第二开关242相对于第一连接件10远离第一开关241,第二开关242电连接第一信号接口115。
在本实施方式中,第二承载部221相对设置的两端分别设置有第一开关241及第二开关242。第一开关241及第二开关242分别与第一信号接口115电连接。当碰撞装置1连接至机器人本体2后,当第一开关241处触碰到障碍物时,第一开关241会被触发,第一开关241通过第一信号接口115向机器人本体2传输第一开关241一侧有障碍物的信号,从而使得机器人1000对障碍物进行避让。当第二开关242处触碰到障碍物时,第二开关242会被触发,第二开关242通过第一信号接口115向机器人本体2传输第二开关242一侧有障碍物的信号,从而使得机器人1000对障碍物进行避让。当第一开关241及第二开关242同时被障碍物触发时,第一开关241及第二开关242会通过第一信号接口115向机器人本体2传输碰撞装置1正前方有障碍物的信号,从而使得机器人1000对障碍物进行避让。
请参照图15及图18,图18为图11实施方式提供的碰撞装置中又一实施方式沿A-A线的剖面示意图。在本实施方式中,碰撞装置1包括第一基板21、防撞件22及第一连接件10。防撞件22连接于第一基板21的一侧。第一连接件10连接于第一基板21背离防撞件22的一侧,第一连接件10包括相背设置的可活动的两个连接部11,连接部11用于和机器人本体2可拆卸安装。第一连接件10还包括第一承载部113及第一支架114。第一承载部113连接第一基板21背离防撞件22的一侧,且用于承载两个连接部11。第一支架114在背离第一基板21方向凸设于第一承载部113。第一连接件10还包括第一信号接口115。第一信号接口115设于第一承载部113背离第一基板21一侧,第一信号接口115用于信号传输。防撞件22还包括第二承载部221、活动部222、第一开关241及第二开关242。第二承载部221固定连接于第一基板21。活动部222设于第二承载部221背离第一基板21的一侧。活动部222与第二承载部221活动连接。第一开关241设于第二承载部221背离第一基板21一侧,且第一开关241设于第二承载部221远离第一连接件10的一端,第一开关241电连接第一信号接口115。第二开关242与第一开关241设于第二承载部221同一侧,且第二开关242相对于第一连接件10远离第一开关241,第二开关242电连接第一信号接口115。此外,在本实施方式中,防撞件22还包括第二弹性件25。活动部222设于第二承载部221背离第一基板21一侧。第二弹性件25设于第二承载部221与活动部222之间,且第二弹性件25的一端抵接第二承
载部221,另一端抵接活动部222。第二弹性件25弹性连接活动部222及第二承载部221。第二弹性件25设于第二承载部221与活动部222之间,以缓冲工作结构20受到撞击时活动部222朝向第二承载部221的移动速度,避免活动部222与第二承载部221发生损坏。
在本实施方式中,活动部222通过一个或多个第二弹性件25与第二承载部221连接。活动部222通过第二弹性件25可相对于第二承载部221靠近或远离。当活动部222触碰到障碍物时会压缩第二弹性件25且朝向第二承载部221运动以触碰第一开关241及第二开关242中的至少一个。当活动部222脱离障碍物之后,由于第二弹性件25的弹性恢复力作用于活动部222,使得活动部222朝向远离第二承载部221的方向运动,以使得活动部222脱离与第一开关241及第二开关242的接触并回至原位。此外,活动部222本身起到了遮蔽作用,进一步地保护了第一开关241及第二开关242。此外,通过活动部222能够识别更大范围的障碍物。
进一步地,在一种实施方式中,第一弹性件31的弹性系数小于或等于第二弹性件25的弹性系数,当工作结构20撞击至障碍物时,当碰撞力超过预设值时,使得工作结构20发生偏转,通过第一弹性件31与工作结构20的偏转进行缓冲,以减小碰撞装置1在碰撞时的刚性受力。
在另一种实施方式中,第二弹性件25的弹性系数小于或等于第一弹性件31的弹性系数,当工作结构20撞击至障碍物时,通过第二弹性件25与进行缓冲,以吸收部分碰撞力,当碰撞力超过预设值时,使得工作结构20发生偏转,通过第一弹性件31与工作结构20的偏转进行缓冲,以减小碰撞装置1在碰撞时的刚性受力。
请参照图1及图19,图19为本申请实施方式提供的机器人中第一连接件与第二连接件配合的示意图。在本实施方式中,机器人1000包括如前述任意实施方式的碰撞装置1以及机器人本体2。碰撞装置1可拆卸地安装于机器人本体2上。机器人本体2包括第二连接件510,第二连接件510与第一连接件10可拆卸连接。
在本实施方式中,机器人1000用于自动化作业,机器人1000可以但不限于为割草机器人、收割机器人或者药水喷洒机器人等。在本实施方式中以机器人1000为割草机器人进行示意说明。
在本实施方式中,碰撞装置1通过第一连接件10与第二连接件510可拆卸连接,与机器人本体2可拆卸连接,从而实现碰撞装置1的快速安装及拆卸,有利于碰撞装置1的保养及维修。
请一并参照图1、图19及图20,图20为图19实施方式中II处一实施方式的局部放大示意图。在本实施方式中,机器人1000包括如前述任意实施方式的碰撞装置1以及机器人本体2。机器人本体2包括第二连接件510,第二连接件510与第一连接件10可拆卸连接。此外,在本实施方式中,第二连接件510包括相背设置的两个固定连接部511,固定连接部511与连接部11配合连接,可用于将碰撞装置1与机器人本体2可拆卸连接。
在本实施方式中,固定连接部511用于与连接部11配合连接,以使得第一连接件10与第二连接件510配合连接,从而实现碰撞装置1与机器人本体2连接。其中,固定连接部511可以开设有与卡接部1112上的凸起相配合的凹槽。
请一并参照图1、图19及图21,图21为图19实施方式中II处另一实施方式的局部放大示意图。在本实施方式中,机器人1000包括如前述任意实施方式的碰撞装置1以及机器人本体2。机器人本体2包括第二连接件510,第二连接件510与第一连接件10可拆卸连接。此外,在本实施方式中,第一连接件10包括第一支架114时,第二连接件510还包括第二支架512。第二支架512与第一支架114配合连接。
在本实施方式中,第二支架512部分凹设于机器人本体2,从而形成了与第一支架114的配合,以通过与第一支架114配合,加强碰撞装置1与机器人本体2之间连接的稳定性。
具体地,第一支架114为锥形结构,且第一支架114远离第一承载部113一端的外径小于靠近第一承载部113一端的外径。第二支架512为与第一支架114配合连接的锥形孔结构,以对第一支架114进行配合连接。此外,第一支架114具有两个相背设置的锥形结构的槽,且第一支架114上锥形结构的槽远离第一承载部113一端的内径大于靠近第一承载部113一端的内径。第二支架512内部具有凸起的锥形结构与第一支架114中具有锥形结构的槽配合,以对第一支架114进行限位,从而加强第一连接件10与第二连接件510配合的稳定性,即加强碰撞装置1与机器人本体2之间连接的稳定性。
请一并参照图1、图19、图20、图21、图22及图23,图22为图19实施方式中II处又一实施方式的局部放大示意图;图23为图22实施方式中机器人的触发信号传输的连接框图。在本实施方式中,机器人1000包括如前述任意实施方式的碰撞装置1以及机器人本体2。机器人本体2包括第二连接件510,第二连接件510与第一连接件10可拆卸连接。第二连接件510还包括第二支架512。第二支架512与第一支架114配合连接。此外,在本实施方式中,第一连接件10包括第一信号接口115时,第二连接件510还包括第二信号接口513。第二信号接口513与第一信号接口115电连接以接收触发信号。其中,当碰撞装置1碰撞到障碍物时触发第一开关241及第二开关242中的至少一者产生触发信号。机器人1000还包括中央控制***60。中央控制***60与第二信号接口513电连接,中央控制***60用于根据触发信号控制机器人本体2运动,以对障碍物进行避让。
在本实施方式中,第二信号接口513与第一信号接口115电连接,以使得中央控制***60能够从第二信号接口513接收触发信号。具体地,以机器人1000为割草车为例进行示意。当活动部222在第一开关241一侧抵接障碍物后,活动部222在第一开关241一侧会通过第二弹性件25相对于第二承载部221运动,当活动部222在第一开关241一侧抵接第一开关241后会触发第一开关241,第一开关241通过第一信号接口115及第二信号接口513传输第一开关241侧有障碍物的信号至中央控制***60。中央控制***60控制机器人本体2停止割草、后退并朝向第二开关242侧进行运动,从而避开第一开关241侧的障碍物继续割草。当活动部222在第二开关242一侧抵接障碍物后,活动部222在第二开关242一侧会通过第二弹性件25相对于第二承载部221运动,当活动部222在第二开关242一侧抵接第二开关242后会触发第二开关242,第二开关242通过第一信号接口115及第二信号接口513传输第二开关242侧有障碍物的信号至中央控制***60。中央控制***60控制机器人本体2停止割草、后退并朝向第一开关241侧进行运动,从而避开第二开关242侧的障碍物并继续割草。具体地,当活动部222中间的部分抵接障碍物后,活动部222会通过第二弹性件25相对于第二承载部221运动,当活动部222抵接第一开关241及第二开关242后会触发第一开关241及第二开关242,第一开关241与第二开关242中至少一个通过第一信号接口115及第二信号接口513传输机器人1000正前方有障碍物的信号至中央控制***60。中央控制***60控制机器人本体2停止割草、后退并向未割草区域方向转弯,从而避开所述机器人1000正前方的障碍物并继续割草。
以上是本申请的部分实施方式,应当指出,对于本技术领域的普通技术人员来说,在不脱离本申请原理的前提下,还可以做出若干改进和润饰,这些改进和润饰也视为本申请的保护范围。
Claims (19)
- 一种碰撞装置,其特征在于,用于安装于机器人本体上,所述碰撞装置包括:第一连接件,固定连接所述机器人本体;工作结构,设于所述第一连接件背离所述机器人本体的一侧;及第一弹性件,位于所述第一连接件与所述工作结构之间,所述第一弹性件用于在所述工作结构受到撞击时发生形变。
- 根据权利要求1所述的碰撞装置,其特征在于,所述工作结构包括第一基板和设置于所述第一基板背离所述第一连接件一侧的防撞件;所述第一基板包括依次设置的第一支臂、安装部、第二支臂;所述第一弹性件设置为至少一个,所述第一弹性件弹性抵接于所述安装部与所述第一连接件之间,且所述第一弹性件的设置方向与所述第一基板的延伸方向垂直或相交,所述第一基板相对所述第一连接件可偏转。
- 根据权利要求1所述的碰撞装置,其特征在于,所述第一弹性件设置为两个,两个所述第一弹性件沿所述工作结构的延伸方向并排设置。
- 根据权利要求2所述的碰撞装置,其特征在于,所述第一基板上设有至少一个第一通孔;所述第一连接件包括第一承载部及第一固定件,所述第一固定件贯穿所述第一通孔,所述第一固定件的一端固定连接所述第一承载部上,另一端设有第一阻挡部;所述第一弹性件套设于所述第一固定件;所述第一弹性件的一端抵接所述第一阻挡部,另一端抵接所述第一基板。
- 根据权利要求4所述的碰撞装置,其特征在于,所述第一通孔为条形孔,所述第一通孔的延伸方向与所述第一基板的延伸方向相同。
- 根据权利要求2所述的碰撞装置,其特征在于,所述第一连接件包括第二基板,所述第二基板上设有至少一个第二通孔,所述工作结构还包括第二固定件,所述第二固定件经所述第二通孔固定于所述第一基板,所述第二固定件背离所述第二基板的一端设有第二阻挡部,所述第一弹性件套设于所述第二固定件,且所述第一弹性件的一端抵接所述第二阻挡部,另一端抵接所述第二基板。
- 根据权利要求1所述的碰撞装置,其特征在于,所述碰撞装置还包括转动组件,所述转动组件设于所述工作结构与所述第一连接件之间,所述转动组件包括第一配合部及第二配合部,所述第一配合部设于所述工作结构上,所述第二配合部设于所述第一连接件上,所述第一配合部用于在所述工作结构相对所述第一连接件发生偏转时可相对所述第二配合部转动。
- 根据权利要求7所述的碰撞装置,其特征在于,所述第一配合部和所述第二配合部中 的一者为球铰支座,另一者为球铰;或,所述第一配合部和所述第二配合部中的一者为枢轴支座,另一者为转动件;或,所述第一配合部和所述第二配合部中的一者为扭簧支座,另一者为转动件。
- 根据权利要求1-8任意一项所述的碰撞装置,其特征在于,所述工作结构包括:第一基板;防撞件,所述防撞件连接于所述第一基板的一侧;所述第一连接件连接于所述第一基板背离所述防撞件的一侧,所述第一连接件包括相背设置的可活动的两个连接部,所述连接部用于和所述机器人本体可拆卸安装。
- 根据权利要求9所述的碰撞装置,其特征在于,所述第一连接件还包括:第一承载部,所述第一承载部连接所述第一基板背离所述防撞件的一侧,且用于承载两个所述连接部;以及第一支架,所述第一支架在背离所述第一基板方向凸设于所述第一承载部。
- 根据权利要求10所述的碰撞装置,其特征在于,两个所述连接部相背一侧分别开设有收容空间,所述连接部部分收容于所述收容空间中;所述连接部包括按压部、卡接部、弹性压缩部及旋转部;所述弹性压缩部位于所述收容空间邻近所述按压部一侧的侧壁和所述按压部之间,所述按压部连接于所述卡接部,所述卡接部邻近所述按压部的一端与所述旋转部配合连接,且所述卡接部可相对所述旋转部转动,所述卡接部用于与所述机器人本体卡接。
- 根据权利要求10所述的碰撞装置,其特征在于,所述第一连接件还包括第一信号接口,所述第一信号接口设于所述第一承载部背离所述第一基板一侧,所述第一信号接口用于信号传输。
- 根据权利要求12所述的碰撞装置,其特征在于,所述碰撞装置还包括信号灯,所述信号灯设于所述防撞件上,且所述信号灯与所述第一信号接口电连接。
- 根据权利要求12或13所述的碰撞装置,其特征在于,所述防撞件包括:第二承载部,所述第二承载部固定连接于所述第一基板;第一开关,所述第一开关设于所述第二承载部背离所述第一基板一侧,且所述第一开关设于所述第二承载部远离所述第一连接件的一端,所述第一开关电连接所述第一信号接口;以及第二开关,所述第二开关与所述第一开关设于所述第二承载部同一侧,且所述第二开关相对于所述第一连接件远离所述第一开关,所述第二开关电连接所述第一信号接口。
- 根据权利要求14所述的碰撞装置,其特征在于,所述防撞件还包括:活动部,所述活动部设于所述第二承载部背离所述第一基板一侧;以及第二弹性件,所述第二弹性件弹性连接所述活动部及第二承载部。
- 一种机器人,其特征在于,包括如权利要求1-15任意一项所述的碰撞装置;以及机器人本体,所述碰撞装置可拆卸地安装于所述机器人本体上。
- 根据权利要求16所述的机器人,其特征在于,所述机器人本体包括第二连接件,所述第二连接件与所述第一连接件可拆卸连接,所述第一连接件包括连接部,所述第二连接件包括相背设置的两个固定连接部,所述固定连接部与所述连接部配合连接,可用于将所述碰撞装置与所述机器人本体可拆卸连接。
- 根据权利要求16所述的机器人,其特征在于,所述机器人本体包括第二连接件,所述第二连接件与所述第一连接件可拆卸连接,所述第一连接件包括第一支架,所述第二连接件还包括:第二支架,所述第二支架与所述第一支架配合连接。
- 根据权利要求16-18任意一项所述的机器人,其特征在于,所述机器人本体包括第二连接件,所述第二连接件与所述第一连接件可拆卸连接,所述工作结构包括第二承载部、第一开关及第二开关,且所述第一连接件包括第一信号接口,所述第二连接件还包括:第二信号接口,所述第二信号接口与所述第一信号接口电连接以接收触发信号,其中,当所述碰撞装置碰撞到障碍物时触发所述第一开关及第二开关中的至少一者产生所述触发信号;所述机器人还包括中央控制***,所述中央控制***与所述第二信号接口电连接,所述中央控制***用于根据所述触发信号控制所述机器人本体运动,以对障碍物进行避让。
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CN202222873262.1 | 2022-10-29 | ||
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DD248765A1 (de) * | 1986-05-05 | 1987-08-19 | Univ Dresden Tech | Kollisionsschutzvorrichtung |
CN103702805A (zh) * | 2011-07-06 | 2014-04-02 | 悠进机器人股份公司 | 移动机器人的缓冲器组件 |
CN210990011U (zh) * | 2019-09-16 | 2020-07-14 | Tcl通力电子(惠州)有限公司 | 扫地机器人 |
CN214724250U (zh) * | 2021-01-12 | 2021-11-16 | 杭州申昊科技股份有限公司 | 一种具有防碰撞装置的隧道壁面检测机器人 |
CN217751513U (zh) * | 2022-03-04 | 2022-11-08 | 松灵机器人(深圳)有限公司 | 防撞组件及机器人 |
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DD248765A1 (de) * | 1986-05-05 | 1987-08-19 | Univ Dresden Tech | Kollisionsschutzvorrichtung |
CN103702805A (zh) * | 2011-07-06 | 2014-04-02 | 悠进机器人股份公司 | 移动机器人的缓冲器组件 |
CN210990011U (zh) * | 2019-09-16 | 2020-07-14 | Tcl通力电子(惠州)有限公司 | 扫地机器人 |
CN214724250U (zh) * | 2021-01-12 | 2021-11-16 | 杭州申昊科技股份有限公司 | 一种具有防碰撞装置的隧道壁面检测机器人 |
CN217751513U (zh) * | 2022-03-04 | 2022-11-08 | 松灵机器人(深圳)有限公司 | 防撞组件及机器人 |
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