CN109093652A - A kind of working method of robot anticollision external device - Google Patents
A kind of working method of robot anticollision external device Download PDFInfo
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- CN109093652A CN109093652A CN201811077896.8A CN201811077896A CN109093652A CN 109093652 A CN109093652 A CN 109093652A CN 201811077896 A CN201811077896 A CN 201811077896A CN 109093652 A CN109093652 A CN 109093652A
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- girder
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- sliding
- slide bar
- fastening screw
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 239000000872 buffer Substances 0.000 claims abstract description 36
- 230000035939 shock Effects 0.000 claims abstract description 22
- 230000008878 coupling Effects 0.000 claims description 24
- 238000010168 coupling process Methods 0.000 claims description 24
- 238000005859 coupling reaction Methods 0.000 claims description 24
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 230000003139 buffering effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 claims description 2
- 230000003111 delayed effect Effects 0.000 claims 1
- 238000004080 punching Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 9
- 230000006378 damage Effects 0.000 description 2
- 230000007123 defense Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
-
- 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
- B25J19/063—Safety devices working only upon contact with an outside object
- B25J19/065—Mechanical fuse
-
- 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
-
- 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
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Vibration Dampers (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to robot fields, it in particular is a kind of working method of robot anticollision external device, robot anticollision external device includes main girder components, sliding Buffer Unit and shock beam assembly, device can be external on wheeled robot, the shock that device can occur wheeled robot buffers, and there are two types of buffer strength for switching for device.The upper and lower ends of girder are provided with sliding slot, and the rear end middle position of girder is fixedly connected with intermediate channel bar, medial launder are provided on intermediate channel bar, medial launder is through girder and intermediate channel bar；The rear end of intermediate slide bar is slidably connected in medial launder, the front end setting of intermediate slide bar is convex there are two keeping off, compressed spring II is socketed on intermediate slide bar, it is convex between girder that compressed spring II is located at gear, two gears are convex upper to be hingedly connected with rotor plate connecting rod, the front end of intermediate slide bar is fixedly connected with crash beam, and the rear end of intermediate slide bar is fixedly connected with backing pin, and backing pin is located at the rear of intermediate channel bar.
Description
Technical field
The present invention relates to robot fields, are in particular a kind of working methods of robot anticollision external device.
Background technique
Application No. is a kind of robot anticollision device, collision-prevention devices of CN201720488682.4, and the utility model discloses a kind of machines
People's air defense collision device, including chassis, the top on the chassis are equipped with postbrachium, and the top of the postbrachium is equipped with forearm, before described
The left end of arm is equipped with manipulator, and the top of the manipulator is equipped with anticollision mechanism, and the bottom end of the newel is equipped with touching
Plate, is equipped with travel switch at the inner bottom center of bottom cylinder, and the inside of the upper spring seat and lower spring cup is equipped with
Compressed spring.The robot anticollision device, collision-prevention device is occurred by the cooperation of compressed spring, touch panel and travel switch when robot works
When collision, the flexible deformation of compressed spring can buffer impact force, and impact force moves down upper cover, transverse slat drive newel to
Lower movement, touch panel touch downwards travel switch, keep driving mechanism out of service, prevent from causing robot bigger injury, protect
It is good to protect effect, does not easily cause the damage of manipulator, is able to satisfy the use demand of user.But this device can not be external wheeled
In robot.
Summary of the invention
The present invention provides a kind of working method of robot anticollision external device, its advantages be device can it is external
On wheeled robot, the shock that device can occur wheeled robot is buffered, and device can there are two types of buffer strength
For switching.
The present invention relates to robot fields, are in particular a kind of robot anticollision external devices, including main girder components,
It slides Buffer Unit and hits beam assembly, device can be external on wheeled robot, and device can occur wheeled robot
Shock buffered, and device there are two types of buffer strength for switching.
The main girder components include that girder, sliding slot, intermediate channel bar and medial launder, the upper and lower ends of girder are provided with cunning
Slot, the rear end middle position of girder are fixedly connected with intermediate channel bar, and medial launder is provided on intermediate channel bar, and medial launder runs through girder
With intermediate channel bar；
The shock beam assembly includes intermediate slide bar, keeps off convex, compressed spring II, rotor plate connecting rod, crash beam and backing pin, intermediate
The rear end of slide bar is slidably connected in medial launder, and the front end setting of intermediate slide bar is convex there are two keeping off, and pressure is socketed on intermediate slide bar
Contracting spring II, compressed spring II be located at keep off it is convex between girder, two gears it is convex it is upper be hingedly connected with rotor plate connecting rod, centre is sliding
The front end of bar is fixedly connected with crash beam, and the rear end of intermediate slide bar is fixedly connected with backing pin, and backing pin is located at the rear of intermediate channel bar；
The sliding Buffer Unit include sliding sash, fixing sleeve, rotor plate, fastening screw II, spring loop bar, convex block I, seat of honour I,
Seat of honour II, convex block II, fastening screw III, fixed frame and compressed spring I, there are two sliding Buffer Unit settings, and two slidings are slow
The both ends that girder is arranged in component are rushed, the upper and lower ends on the inside of sliding sash are provided with convex block I, and sliding sash passes through two convex block I slidings
It is connected on two sliding slots on girder, the rear end of sliding sash has been connected through a screw thread fastening screw II, and fastening screw II withstands on master
Liang Shang, the upper end of sliding sash are provided with seat of honour I, and the rear end of rotor plate is hinged on the front end of sliding sash, the upper and lower ends on the inside of fixed frame
It is provided with convex block II, on two sliding slots that fixed frame is slidably connected on girder by two convex block II, the front end of fixed frame
It is connected through a screw thread fastening screw III, fastening screw III is withstood on girder, and the upper end of fixed frame is provided with seat of honour II, spring
One end of loop bar is fixedly connected on the II of the seat of honour, and the other end of spring loop bar is slidably connected on the I of the seat of honour, seat of honour I and seat of honour II
Between spring loop bar on be socketed with compressed spring I, the front end of two rotor plates is fixedly connected to fixing sleeve；Two rotor plates
Connecting rod is slidably connected at respectively on two fixing sleeves.
The main girder components further include connecting plate, and the both ends of girder are fixedly connected to connecting plate, the rear end of connecting plate
It is provided with circular through hole.
The shock beam assembly further includes spring coupling plate II and extension spring, and the outer end of two rotor plate connecting rods is solid
Surely it is connected with spring coupling plate II, one end of extension spring is welded to connect on spring coupling plate II.
The sliding Buffer Unit further includes spring coupling plate I and fastening screw I, is fixedly connected with spring on fixing sleeve
Connecting plate I, the inner end of two extension springs are respectively welded on spring coupling plate I, and fastening has been connected through a screw thread on fixing sleeve
Screw I, fastening screw I are withstood on rotor plate connecting rod.
The working method of the robot anticollision external device includes: that the robot anticollision external device includes two kinds slow
The state of impulse force degree, the state of the first buffer strength of device are as follows: consolidated rotor plate connecting rod and rotor plate using fastening screw I
It is scheduled on together, unclamps fastening screw II and sliding sash is slidably connected with girder, fixed frame can slide on girder, to adjust
Fixed frame is fixed on girder using fastening screw III after adjusting the dynamics for saving compressed spring I by the dynamics of compressed spring I
It is upper, it at this moment hits when beam assembly is hit and intermediate slide bar is driven to slide backward, intermediate slide bar slides backward extruding compression
Spring II drives two sliding sashes to be displaced outwardly while intermediate slide bar slides backward by rotor plate connecting rod and rotor plate, and two
Sliding sash, which is displaced outwardly, presses corresponding compressed spring I, is at this moment carried out by a two compressed spring I and compressed spring II to shock
Buffering.
The state of second of buffer strength of device are as follows: unclamp fastening screw I, slide rotor plate connecting rod and rotor plate and connect
Connect, using fastening screw II will on the fixed girders of two sliding sashes, at this moment hit driven when beam assembly is hit intermediate slide bar to
After slide, intermediate slide bar, which slides backward, squeezes compressed spring II, two rotor plate connecting rods point while intermediate slide bar slides backward
It is not slid in and out on corresponding fixing sleeve, the distance between spring coupling plate I and spring coupling plate II increase, to stretch bullet
Spring is elongated, and is at this moment buffered by two extension springs and a compressed spring II to shock.
A kind of robot anticollision external device of the invention has the beneficial effect that
A kind of robot anticollision external device of the present invention, device can be external on wheeled robot, and device can be to wheeled machine
The raw shock of device human hair is buffered, and there are two types of buffer strength for switching for device.
Detailed description of the invention
The present invention will be further described in detail with specific implementation method with reference to the accompanying drawing.
Fig. 1 is a kind of structural schematic diagram one of robot anticollision external device of the present invention；
Fig. 2 is a kind of structural schematic diagram two of robot anticollision external device of the present invention；
Fig. 3 is the structural schematic diagram one of main girder components；
Fig. 4 is the structural schematic diagram two of main girder components；
Fig. 5 is the structural schematic diagram one for sliding Buffer Unit；
Fig. 6 is the structural schematic diagram two for sliding Buffer Unit；
Fig. 7 is the structural schematic diagram three for sliding Buffer Unit；
Fig. 8 is the structural schematic diagram one for hitting beam assembly；
Fig. 9 is the structural schematic diagram two for hitting beam assembly.
In figure: main girder components 1；Girder 1-1；Sliding slot 1-2；Intermediate channel bar 1-3；Medial launder 1-4；Connecting plate 1-5；Sliding is slow
Rush component 2；Sliding sash 2-1；Spring coupling plate I2-2；Fixing sleeve 2-3；Fastening screw I2-4；Rotor plate 2-5；Fastening screw II2-
6；Spring loop bar 2-7；Convex block I2-8；Seat of honour I2-9；Seat of honour II2-10；Convex block II2-11；Fastening screw III2-12；Fixed frame
2-13；Compressed spring I2-14；Hit beam assembly 3；Intermediate slide bar 3-1；Keep off convex 3-2；Compressed spring II3-3；Rotor plate connecting rod 3-
4；Spring coupling plate II3-5；Extension spring 3-6；Crash beam 3-7；Backing pin 3-8.
Specific embodiment
Specific embodiment 1:
Illustrate present embodiment below with reference to Fig. 1-9, the present invention relates to robot fields, are in particular a kind of machine people's air defenses
External device, including main girder components 1, sliding Buffer Unit 2 and shock beam assembly 3 are hit, device can be external in wheeled robot
On, the shock that device can occur wheeled robot buffers, and there are two types of buffer strength for switching for device.
The main girder components 1 include girder 1-1, sliding slot 1-2, centre channel bar 1-3 and medial launder 1-4, and girder 1-1's is upper
Lower both ends are provided with sliding slot 1-2, and the rear end middle position of girder 1-1 is fixedly connected with intermediate channel bar 1-3, intermediate channel bar 1-3
On be provided with medial launder 1-4, medial launder 1-4 is through girder 1-1 and intermediate channel bar 1-3；
The shock beam assembly 3 includes intermediate slide bar 3-1, the convex 3-2 of gear, compressed spring II3-3, rotor plate connecting rod 3-4, hits
Beam 3-7 and backing pin 3-8, the rear end of intermediate slide bar 3-1 are slidably connected in medial launder 1-4, and the front end of intermediate slide bar 3-1 is provided with
It is socketed with compressed spring II3-3 on two gears convex 3-2, intermediate slide bar 3-1, compressed spring II3-3, which is located at, keeps off convex 3-2 and girder 1-
Between 1, it is hingedly connected with rotor plate connecting rod 3-4 on two convex 3-2 of gear, the front end of intermediate slide bar 3-1 is fixedly connected with shock
Beam 3-7, the rear end of intermediate slide bar 3-1 are fixedly connected with backing pin 3-8, and backing pin 3-8 is located at the rear of intermediate channel bar 1-3；Backing pin 3-8
Intermediate slide bar 3-1 is prevented to be detached from intermediate channel bar 1-3；
The sliding Buffer Unit 2 includes sliding sash 2-1, fixing sleeve 2-3, rotor plate 2-5, fastening screw II2-6, spring loop bar
2-7, convex block I2-8, seat of honour I2-9, seat of honour II2-10, convex block II2-11, fastening screw III2-12, fixed frame 2-13 and compression
Spring I2-14, there are two the sliding settings of Buffer Unit 2, and the both ends of girder 1-1, sliding sash 2- is arranged in two sliding Buffer Units 2
The upper and lower ends of 1 inside are provided with convex block I2-8, and sliding sash 2-1 is slidably connected on girder 1-1 by two convex block I2-8
On two sliding slot 1-2, the rear end of sliding sash 2-1 has been connected through a screw thread fastening screw II2-6, and fastening screw II2-6 withstands on girder
On 1-1, the upper end of sliding sash 2-1 is provided with seat of honour I2-9, and the rear end of rotor plate 2-5 is hinged on the front end of sliding sash 2-1, fixed frame 2-
The upper and lower ends of 13 insides are provided with convex block II2-11, and fixed frame 2-13 is slidably connected at girder by two convex block II2-11
On two sliding slot 1-2 on 1-1, the front end of fixed frame 2-13 has been connected through a screw thread fastening screw III2-12, fastening screw
III2-12 is withstood on girder 1-1, and the upper end of fixed frame 2-13 is provided with seat of honour II2-10, and one end of spring loop bar 2-7 is fixed to be connected
It connects on the II2-10 of the seat of honour, the other end of spring loop bar 2-7 is slidably connected on the I2-9 of the seat of honour, seat of honour I2-9 and seat of honour II2-10
Between spring loop bar 2-7 on be socketed with compressed spring I2-14, the front end of two rotor plate 2-5 is fixedly connected to fixing sleeve
2-3；Two rotor plate connecting rod 3-4 are slidably connected at respectively on two fixing sleeve 2-3.
The main girder components 1 further include connecting plate 1-5, and the both ends of girder 1-1 are fixedly connected to connecting plate 1-5, even
The rear end of fishplate bar 1-5 is provided with circular through hole.The circular through hole of the rear end setting of connecting plate 1-5 can connect screw, to make
Connecting plate 1-5 is connected on wheeled robot, so that whole device is fixed on wheeled robot.
The shock beam assembly 3 further includes spring coupling plate II3-5 and extension spring 3-6, two rotor plate connecting rod 3-4
Outer end be fixedly connected to spring coupling plate II3-5, one end of extension spring 3-6 is welded to connect in spring coupling plate II3-5
On.
The sliding Buffer Unit 2 further includes spring coupling plate I2-2 and fastening screw I2-4, is fixed on fixing sleeve 2-3
It is connected with spring coupling plate I2-2, the inner end of two extension spring 3-6 is respectively welded on spring coupling plate I2-2, fixing sleeve 2-
Fastening screw I2-4 is connected through a screw thread on 3, fastening screw I2-4 is withstood on rotor plate connecting rod 3-4.
A kind of working principle of robot anticollision external device of the present invention: the state of the first buffer strength of device are as follows:
Rotor plate connecting rod 3-4 and rotor plate 2-5 are fixed together using fastening screw I2-4, fastening screw II2-6 is unclamped and to slide
Frame 2-1 is slidably connected with girder 1-1, and fixed frame 2-13 can be slided on girder 1-1, to adjust compressed spring I2-14's
Fixed frame 2-13 is fixed on master using fastening screw III2-12 after adjusting the dynamics for saving compressed spring I2-14 by dynamics
On beam 1-1, at this moment hits when beam assembly 3 is hit and intermediate slide bar 3-1 is driven to slide backward, intermediate slide bar 3-1 is backward
Sliding squeezes compressed spring II3-3, passes through rotor plate connecting rod 3-4 and rotor plate 2-5 band while intermediate slide bar 3-1 is slided backward
Dynamic two sliding sash 2-1 are displaced outwardly, and two sliding sash 2-1, which are displaced outwardly, presses corresponding compressed spring I2-14, are at this moment pressed by two
Contracting spring I2-14 and a compressed spring II3-3 buffer shock.
The state of second of buffer strength of device are as follows: unclamp fastening screw I2-4, make rotor plate connecting rod 3-4 and rotor plate
2-5 is slidably connected, and using fastening screw II2-6 by the fixed girder 1-1 of two sliding sash 2-1, at this moment hits beam assembly 3 and is hit
Intermediate slide bar 3-1 is driven to slide backward when hitting, intermediate slide bar 3-1, which is slided backward, squeezes compressed spring II3-3, intermediate slide bar 3-1
Two rotor plate connecting rod 3-4 slide in and out on corresponding fixing sleeve 2-3 respectively while sliding backward, spring coupling plate I2-2
The distance between spring coupling plate II3-5 increases, so that extension spring 3-6 is elongated, at this moment by two extension spring 3-6 and
One compressed spring II3-3 buffers shock.
Device can be external on wheeled robot, and the shock that device can occur wheeled robot buffers, and
And buffer strength switch suitable buffer strength convenient for user for switching as needed there are two types of devices.
Certainly, above description is not limitation of the present invention, and the present invention is also not limited to the example above, the art
The variations, modifications, additions or substitutions that those of ordinary skill is made within the essential scope of the present invention also belong to guarantor of the invention
Protect range.
Claims (1)
1. a kind of working method of robot anticollision external device, robot anticollision external device includes main girder components (1), sliding
Buffer Unit (2) and shock beam assembly (3), it is characterised in that: the main girder components (1) include girder (1-1), sliding slot (1-
2), intermediate channel bar (1-3) and medial launder (1-4), the upper and lower ends of girder (1-1) are provided with sliding slot (1-2), girder (1-1)
Rear end middle position be fixedly connected with intermediate channel bar (1-3), be provided with medial launder (1-4), medial launder on intermediate channel bar (1-3)
(1-4) is through girder (1-1) and intermediate channel bar (1-3)；
The shock beam assembly (3) include intermediate slide bar (3-1), gear convex (3-2), compressed spring II(3-3), rotor plate connecting rod
(3-4), crash beam (3-7) and backing pin (3-8), the rear end of intermediate slide bar (3-1) are slidably connected in medial launder (1-4), intermediate
The front end setting of slide bar (3-1) is socketed with compressed spring II(3-3 on intermediate slide bar (3-1) there are two convex (3-2) is kept off), compression
Spring II(3-3) it is located at and keeps off between convex (3-2) and girder (1-1), rotor plate connecting rod is hingedly connected on two gears convex (3-2)
The front end of (3-4), intermediate slide bar (3-1) are fixedly connected with crash beam (3-7), and the rear end of intermediate slide bar (3-1) is fixedly connected with
Backing pin (3-8), backing pin (3-8) are located at the rear of intermediate channel bar (1-3)；
The sliding Buffer Unit (2) includes sliding sash (2-1), fixing sleeve (2-3), rotor plate (2-5), fastening screw II(2-
6), spring loop bar (2-7), convex block I(2-8), seat of honour I(2-9), seat of honour II(2-10), convex block II(2-11), fastening screw III
(2-12), fixed frame (2-13) and compressed spring I(2-14), there are two sliding Buffer Unit (2) settings, two sliding buffering groups
The upper and lower ends that part (2) is arranged on the inside of the both ends of girder (1-1), sliding sash (2-1) are provided with convex block I(2-8), sliding sash (2-
1) pass through two convex block I(2-8) it is slidably connected on two sliding slots (1-2) on girder (1-1), the rear end of sliding sash (2-1) is logical
Cross and be threaded with fastening screw II(2-6), fastening screw II(2-6) it withstands on girder (1-1), the upper end of sliding sash (2-1) is set
It is equipped with seat of honour I(2-9), the rear end of rotor plate (2-5) is hinged on the front end of sliding sash (2-1), upper and lower on the inside of fixed frame (2-13)
Both ends are provided with convex block II(2-11), fixed frame (2-13) passes through two convex block II(2-11) it is slidably connected at girder (1-1)
On two sliding slots (1-2) on, the front end of fixed frame (2-13) has been connected through a screw thread fastening screw III(2-12), fasten spiral shell
Nail III(2-12) it withstands on girder (1-1), the upper end of fixed frame (2-13) is provided with seat of honour II(2-10), spring loop bar (2-7)
One end be fixedly connected on seat of honour II(2-10) on, the other end of spring loop bar (2-7) is slidably connected at seat of honour I(2-9) on, on
Seat I(2-9) and seat of honour II(2-10) between spring loop bar (2-7) on be socketed with compressed spring I(2-14), two rotor plates
The front end of (2-5) is fixedly connected to fixing sleeve (2-3)；Two rotor plate connecting rods (3-4) are slidably connected at two fixations respectively
It covers on (2-3)；
The shock beam assembly (3) further includes spring coupling plate II(3-5) and extension spring (3-6), two rotor plate connecting rods
The outer end of (3-4) is fixedly connected to spring coupling plate II(3-5), one end of extension spring (3-6) is welded to connect to be connected in spring
Fishplate bar II(3-5) on；
The main girder components (1) further include connecting plate (1-5), and the both ends of girder (1-1) are fixedly connected to connecting plate (1-
5), the rear end of connecting plate (1-5) is provided with circular through hole；
The sliding Buffer Unit (2) further includes spring coupling plate I(2-2) and fastening screw I(2-4), on fixing sleeve (2-3)
It is fixedly connected with spring coupling plate I(2-2), the inner end of two extension springs (3-6) is respectively welded at spring coupling plate I(2-2)
On, fastening screw I(2-4 has been connected through a screw thread on fixing sleeve (2-3)), fastening screw I(2-4) withstand on rotor plate connecting rod (3-
4) on；
The working method of the robot anticollision external device includes: that the robot anticollision external device includes two kinds of cushion effects
The state of degree, the state of the first buffer strength of device are as follows: be fixed on rotor plate connecting rod and rotor plate using fastening screw I
Together, unclamping fastening screw II makes sliding sash be slidably connected with girder, and fixed frame can slide on girder, to adjust compression
Fixed frame is fixed on girder i.e. after adjusting the dynamics for saving compressed spring I using fastening screw III by the dynamics of spring I
Can, it at this moment hits when beam assembly is hit and intermediate slide bar is driven to slide backward, intermediate slide bar slides backward extruding compressed spring
II drives two sliding sashes to be displaced outwardly, two sliding sashes while intermediate slide bar slides backward by rotor plate connecting rod and rotor plate
It is displaced outwardly and presses corresponding compressed spring I, at this moment shock is delayed by two compressed spring I and a compressed spring II
Punching；
The state of second of buffer strength of device are as follows: fastening screw I is unclamped, rotor plate connecting rod and rotor plate is made to be slidably connected,
Using fastening screw II by the fixed girder of two sliding sashes, at this moment hits when beam assembly is hit and intermediate slide bar is driven to slide backward
Dynamic, intermediate slide bar, which slides backward, squeezes compressed spring II, and two rotor plate connecting rods exist respectively while intermediate slide bar slides backward
It is slid in and out on corresponding fixing sleeve, the distance between spring coupling plate I and spring coupling plate II increase, thus extension spring quilt
It elongates, at this moment shock is buffered by two extension springs and a compressed spring II.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811077896.8A CN109093652B (en) | 2018-02-05 | 2018-02-05 | Working method of robot anti-collision external device |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811077896.8A CN109093652B (en) | 2018-02-05 | 2018-02-05 | Working method of robot anti-collision external device |
| CN201810110354.XA CN108284457B (en) | 2018-02-05 | 2018-02-05 | A kind of robot anticollision external device |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810110354.XA Division CN108284457B (en) | 2018-02-05 | 2018-02-05 | A kind of robot anticollision external device |
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| Publication Number | Publication Date |
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| CN109093652A true CN109093652A (en) | 2018-12-28 |
| CN109093652B CN109093652B (en) | 2021-07-27 |
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| CN201810110354.XA Active CN108284457B (en) | 2018-02-05 | 2018-02-05 | A kind of robot anticollision external device |
| CN201811077896.8A Active CN109093652B (en) | 2018-02-05 | 2018-02-05 | Working method of robot anti-collision external device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111152265A (en) * | 2020-03-02 | 2020-05-15 | 重庆好未来智能科技有限公司 | Intelligent robot's anticollision protection architecture |
| CN112863809A (en) * | 2021-01-20 | 2021-05-28 | 董俊超 | Transformer not easy to damage in carrying process |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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Also Published As
| Publication number | Publication date |
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| CN109093652B (en) | 2021-07-27 |
| CN108284457A (en) | 2018-07-17 |
| CN108284457B (en) | 2019-01-01 |
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