CN109093652B - Working method of robot anti-collision external device - Google Patents
Working method of robot anti-collision external device Download PDFInfo
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- CN109093652B CN109093652B CN201811077896.8A CN201811077896A CN109093652B CN 109093652 B CN109093652 B CN 109093652B CN 201811077896 A CN201811077896 A CN 201811077896A CN 109093652 B CN109093652 B CN 109093652B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/063—Safety devices working only upon contact with an outside object
- B25J19/065—Mechanical fuse
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—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)
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Abstract
The invention relates to the field of robots, in particular to a working method of a robot anti-collision external device. The upper end and the lower end of the main beam are both provided with sliding grooves, the middle position of the rear end of the main beam is fixedly connected with a middle groove rod, a middle groove is arranged on the middle groove rod, and the middle groove penetrates through the main beam and the middle groove rod; the rear end sliding connection of middle slide bar is in middle inslot, and the front end of middle slide bar is provided with two and keeps off protrudingly, has cup jointed compression spring II on the middle slide bar, and compression spring II is located and keeps off between protruding and the girder, and two keep off protruding all articulated being connected with the rotor plate connecting rod, the front end fixedly connected with striking roof beam of middle slide bar, the rear end fixedly connected with backing pin of middle slide bar, the backing pin is located the rear of middle grooved bar.
Description
Technical Field
The invention relates to the field of robots, in particular to a working method of a robot anti-collision external device.
Background
Application number is CN 201720488682.4's a robot buffer stop, the utility model discloses a robot buffer stop, which comprises a base, the postbrachium is installed on the top on chassis, the forearm is installed on the top of postbrachium, the manipulator is installed to the left end of forearm, anticollision institution is installed on the top of manipulator, the touch panel is installed to the bottom of center post, travel switch is installed to the inside bottom center department of end section of thick bamboo, the internally mounted of going up spring holder and lower spring holder has compression spring. This collision avoidance robot device, through compression spring, touch panel and travel switch's cooperation, when the robot work bumps, compression spring's elastic deformation can cushion the impact, and the impact makes the upper cover downstream, and horizontal slab band center post moves down, and the touch panel touches travel switch downwards, makes actuating mechanism stop motion, prevents to cause bigger injury to the robot, and the protection effect is good, is difficult for causing the damage of manipulator, can satisfy user's user demand. However, this device cannot be externally connected to the wheeled robot.
Disclosure of Invention
The invention provides a working method of a robot anti-collision external device, which has the advantages that the device can be externally connected to a wheeled robot, the device can buffer the collision of the wheeled robot, and the device has two buffer forces for switching.
The invention relates to the field of robots, in particular to an anti-collision external device for a robot, which comprises a main beam assembly, a sliding buffer assembly and a collision beam assembly, wherein the device can be externally connected to a wheeled robot, can buffer collision of the wheeled robot, and has two buffer forces for switching.
The main beam assembly comprises a main beam, sliding grooves, a middle groove rod and a middle groove, the sliding grooves are formed in the upper end and the lower end of the main beam, the middle position of the rear end of the main beam is fixedly connected with the middle groove rod, the middle groove is formed in the middle groove rod, and the middle groove penetrates through the main beam and the middle groove rod;
the impact beam assembly comprises a middle sliding rod, two blocking protrusions, a compression spring II, a rotating plate connecting rod, an impact beam and a blocking pin, wherein the rear end of the middle sliding rod is connected in a middle groove in a sliding mode;
the sliding buffer component comprises a sliding frame, a fixed sleeve, a rotating plate, a fastening screw II, a spring loop bar, a convex block I, an upper seat II, a convex block II, a fastening screw III, a fixed frame and a compression spring I, wherein the sliding buffer component is provided with two, the two sliding buffer components are arranged at two ends of a main beam, the upper end and the lower end of the inner side of the sliding frame are respectively provided with the convex block I, the sliding frame is connected on two sliding chutes on the main beam in a sliding way through the two convex blocks I, the rear end of the sliding frame is connected with the fastening screw II through threads, the fastening screw II is propped against the main beam, the upper end of the sliding frame is provided with the upper seat I, the rear end of the rotating plate is hinged at the front end of the sliding frame, the upper end and the lower end of the inner side of the fixed frame are respectively provided with the convex blocks II, the fixed frame is connected on the two sliding chutes on the main beam in a sliding way through the two convex blocks II, the front end of the fixed frame is connected with the fastening screw III through threads, and the fastening screw III is propped against the main beam, an upper seat II is arranged at the upper end of the fixed frame, one end of a spring loop bar is fixedly connected to the upper seat II, the other end of the spring loop bar is connected to the upper seat I in a sliding manner, a compression spring I is sleeved on the spring loop bar between the upper seat I and the upper seat II, and the front ends of the two rotating plates are fixedly connected with fixed sleeves; the two rotating plate connecting rods are respectively connected on the two fixing sleeves in a sliding manner.
The girder subassembly still include the connecting plate, the equal fixedly connected with connecting plate in both ends of girder, the rear end of connecting plate is provided with circular through-hole.
The striking beam assembly further comprises a spring connecting plate II and an extension spring, the outer ends of the two rotating plate connecting rods are fixedly connected with the spring connecting plate II, and one end of the extension spring is connected to the spring connecting plate II in a welded mode.
The sliding buffer assembly further comprises a spring connecting plate I and a fastening screw I, the fixed sleeve is fixedly connected with the spring connecting plate I, the inner ends of the two extension springs are respectively welded on the spring connecting plate I, the fixed sleeve is connected with the fastening screw I through threads, and the fastening screw I abuts against the rotating plate connecting rod.
The working method of the robot anti-collision external device comprises the following steps: the robot anti-collision external device comprises two buffer force states, and the first buffer force state of the device is as follows: the rotating plate connecting rod and the rotating plate are fixed together by using a fastening screw I, the sliding frame is in sliding connection with the main beam by loosening the fastening screw II, the fixing frame can slide on the main beam, so that the force of the compression spring I is adjusted, after the force of the compression spring I is adjusted, the fixing frame is fixed on the main beam by using a fastening screw III, the middle sliding rod is driven to slide backwards when the impact beam assembly is impacted, the middle sliding rod slides backwards to extrude the compression spring II, the two sliding frames are driven to move outwards by the rotating plate connecting rod and the rotating plate while the middle sliding rod slides backwards, the two sliding frames move outwards to press the corresponding compression spring I, and the impact is buffered by the two compression springs I and the compression spring II.
The second state of the buffer force of the device is: loosening the fastening screw I to enable the rotating plate connecting rod to be in sliding connection with the rotating plate, fixing the two sliding frames on the main beam by using the fastening screw II, driving the middle sliding rod to slide backwards when the impact beam assembly is impacted, enabling the middle sliding rod to slide backwards to extrude the compression spring II, enabling the two rotating plate connecting rods to slide outwards on the corresponding fixing sleeves when the middle sliding rod slides backwards, increasing the distance between the spring connecting plate I and the spring connecting plate II, extending the extension spring, and buffering impact by the two extension springs and the compression spring II.
The anti-collision external device for the robot has the beneficial effects that:
the invention relates to an anti-collision external device for a robot, which can be externally connected to a wheeled robot, can buffer the impact of the wheeled robot, and has two buffer forces for switching.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a first schematic structural diagram of a robot anti-collision external device according to the present invention;
FIG. 2 is a schematic structural diagram of a robot anti-collision external device according to the present invention;
FIG. 3 is a first schematic structural view of a main beam assembly;
FIG. 4 is a second schematic structural view of the main beam assembly;
FIG. 5 is a first schematic structural view of a sliding buffer assembly;
FIG. 6 is a second schematic structural view of the sliding buffer assembly;
FIG. 7 is a third schematic structural view of the sliding buffer assembly;
FIG. 8 is a first schematic structural view of an impact beam assembly;
FIG. 9 is a second structural schematic of the impact beam assembly.
In the figure: a main beam assembly 1; 1-1 of a main beam; a chute 1-2; 1-3 of middle grooved bars; 1-4 of intermediate tank; connecting plates 1-5; a sliding buffer component 2; 2-1 of a sliding frame; a spring connecting plate I2-2; 2-3 of a fixed sleeve; fastening screw I2-4; 2-5 of a rotating plate; fastening screw II 2-6; 2-7 parts of a spring sleeve rod; bump I2-8; an upper seat I2-9; an upper seat II 2-10; bump II 2-11; fastening screw III 2-12; a fixed frame 2-13; compression spring I2-14; an impact beam assembly 3; a middle slide bar 3-1; 3-2 of blocking protrusions; compression spring II 3-3; rotating the plate connecting rod 3-4; spring connecting plate II 3-5; 3-6 parts of an extension spring; 3-7 of an impact beam; and 3-8 of stop pin.
Detailed Description
The first embodiment is as follows:
the embodiment is described below with reference to fig. 1 to 9, and the invention relates to the field of robots, in particular to an external device for robot collision avoidance, which comprises a main beam assembly 1, a sliding buffer assembly 2 and an impact beam assembly 3, wherein the device can be externally connected to a wheeled robot, can buffer the impact generated by the wheeled robot, and has two buffer forces for switching.
The main beam assembly 1 comprises a main beam 1-1, sliding grooves 1-2, intermediate groove rods 1-3 and intermediate grooves 1-4, the sliding grooves 1-2 are formed in the upper end and the lower end of the main beam 1-1, the intermediate groove rods 1-3 are fixedly connected to the middle of the rear end of the main beam 1-1, the intermediate grooves 1-4 are formed in the intermediate groove rods 1-3, and the intermediate grooves 1-4 penetrate through the main beam 1-1 and the intermediate groove rods 1-3;
the impact beam component 3 comprises a middle slide bar 3-1, a baffle projection 3-2, a compression spring II3-3, a rotating plate connecting rod 3-4, an impact beam 3-7 and a baffle pin 3-8, the rear end of a middle sliding rod 3-1 is connected in a middle groove 1-4 in a sliding mode, the front end of the middle sliding rod 3-1 is provided with two blocking protrusions 3-2, a compression spring II3-3 is sleeved on the middle sliding rod 3-1, the compression spring II3-3 is located between the blocking protrusions 3-2 and a main beam 1-1, the two blocking protrusions 3-2 are hinged with rotating plate connecting rods 3-4, the front end of the middle sliding rod 3-1 is fixedly connected with an impact beam 3-7, the rear end of the middle sliding rod 3-1 is fixedly connected with a blocking pin 3-8, and the blocking pin 3-8 is located behind the middle groove rod 1-3; the stop pin 3-8 prevents the middle sliding rod 3-1 from separating from the middle grooved rod 1-3;
the sliding buffer component 2 comprises a sliding frame 2-1, a fixed sleeve 2-3, a rotating plate 2-5, a fastening screw II2-6, a spring loop bar 2-7, a bump I2-8, an upper seat I2-9, an upper seat II2-10, a bump II2-11, a fastening screw III2-12, a fixed frame 2-13 and a compression spring I2-14, wherein the number of the sliding buffer component 2 is two, the two sliding buffer components 2 are arranged at two ends of the main beam 1-1, the upper end and the lower end of the inner side of the sliding frame 2-1 are respectively provided with the bump I2-8, the sliding frame 2-1 is connected on two sliding grooves 1-2 on the main beam 1-1 in a sliding manner through the two bumps I2-8, the rear end of the sliding frame 2-1 is connected with the fastening screw II2-6 through threads, the fastening screw II2-6 is pressed against the main beam 1-1, the upper end of the sliding frame 2-1 is provided with an upper seat I2-9, the rear end of the rotating plate 2-5 is hinged at the front end of the sliding frame 2-1, the upper and lower ends of the inner side of the fixed frame 2-13 are respectively provided with a lug II2-11, the fixed frame 2-13 is connected with two sliding chutes 1-2 on the main beam 1-1 in a sliding way through two lugs II2-11, the front end of the fixed frame 2-13 is connected with a fastening screw III2-12 in a threaded way, the fastening screw III2-12 is propped against the main beam 1-1, the upper end of the fixed frame 2-13 is provided with an upper seat II2-10, one end of a spring loop bar 2-7 is fixedly connected on an upper seat II2-10, the other end of the spring loop bar 2-7 is connected on an upper seat I2-9 in a sliding way, a compression spring loop bar 2-7 between the upper seat I2-9 and the upper seat II2-10 is sleeved with a compression spring loop I2-14, the front ends of the two rotating plates 2-5 are fixedly connected with fixed sleeves 2-3; the two rotating plate connecting rods 3-4 are respectively connected on the two fixed sleeves 2-3 in a sliding way.
The main beam assembly 1 further comprises connecting plates 1-5, the two ends of the main beam 1-1 are fixedly connected with the connecting plates 1-5, and the rear ends of the connecting plates 1-5 are provided with circular through holes. The round through holes arranged at the rear ends of the connecting plates 1-5 can be connected with screws, so that the connecting plates 1-5 are connected to the wheeled robot, and the whole device is fixed on the wheeled robot.
The impact beam assembly 3 further comprises spring connecting plates II3-5 and extension springs 3-6, the outer ends of the two rotating plate connecting rods 3-4 are fixedly connected with spring connecting plates II3-5, and one ends of the extension springs 3-6 are connected to the spring connecting plates II3-5 in a welded mode.
The sliding buffer assembly 2 further comprises a spring connecting plate I2-2 and a fastening screw I2-4, the fixed sleeve 2-3 is fixedly connected with the spring connecting plate I2-2, the inner ends of two extension springs 3-6 are respectively welded on the spring connecting plate I2-2, the fixed sleeve 2-3 is connected with the fastening screw I2-4 through threads, and the fastening screw I2-4 is pressed against the rotating plate connecting rod 3-4.
The invention relates to a working principle of a robot anti-collision external device, which comprises the following steps: the first state of the cushioning strength of the device is: fastening screws I2-4 are used for fixing the rotating plate connecting rods 3-4 and the rotating plates 2-5 together, fastening screws II2-6 are loosened to enable the sliding frame 2-1 to be in sliding connection with the main beam 1-1, the fixed frame 2-13 can slide on the main beam 1-1, so that the force of the compression spring I2-14 is adjusted, after the force of the compression spring I2-14 is adjusted, the fixed frame 2-13 is fixed on the main beam 1-1 through the fastening screws III2-12, at the moment, the impact beam assembly 3 drives the middle sliding rod 3-1 to slide backwards when impacted, the middle sliding rod 3-1 slides backwards to press the compression spring II3-3, the middle sliding rod 3-1 slides backwards and drives the two sliding frames 2-1 to move outwards through the rotating plate connecting rods 3-4 and the rotating plates 2-5, the two sliding frames 2-1 move outwards to press the corresponding compression springs I2-14, and the impact is buffered by the two compression springs I2-14 and one compression spring II 3-3.
The second state of the buffer force of the device is: loosening a fastening screw I2-4 to enable a rotating plate connecting rod 3-4 to be in sliding connection with a rotating plate 2-5, fixing two sliding frames 2-1 on a main beam 1-1 by using a fastening screw II2-6, driving a middle sliding rod 3-1 to slide backwards when an impact beam assembly 3 is impacted, enabling the middle sliding rod 3-1 to slide backwards to extrude a compression spring II3-3, enabling two rotating plate connecting rods 3-4 to slide outwards on corresponding fixed sleeves 2-3 respectively while the middle sliding rod 3-1 slides backwards, increasing the distance between a spring connecting plate I2-2 and a spring connecting plate II3-5, extending the extension spring 3-6, and buffering impact by two extension springs 3-6 and one compression spring II 3-3.
The device can be externally connected on wheeled robot, and the striking that the device can take place to wheeled robot cushions to the device has two kinds of buffering dynamics and can supplies to switch, and convenient to use person switches suitable buffering dynamics as required.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.
Claims (1)
1. The utility model provides a robot anticollision external device's operating method, robot anticollision external device includes girder subassembly (1), slip buffering subassembly (2) and striking roof beam subassembly (3), its characterized in that: the main beam assembly (1) comprises a main beam (1-1), sliding grooves (1-2), intermediate groove rods (1-3) and intermediate grooves (1-4), the sliding grooves (1-2) are formed in the upper end and the lower end of the main beam (1-1), the intermediate groove rods (1-3) are fixedly connected to the middle of the rear end of the main beam (1-1), the intermediate grooves (1-4) are formed in the intermediate groove rods (1-3), and the intermediate grooves (1-4) penetrate through the main beam (1-1) and the intermediate groove rods (1-3);
the impact beam component (3) comprises a middle slide bar (3-1), blocking protrusions (3-2), compression springs II (3-3), rotating plate connecting rods (3-4), impact beams (3-7) and blocking pins (3-8), the rear end of the middle slide bar (3-1) is connected in the middle groove (1-4) in a sliding mode, the front end of the middle slide bar (3-1) is provided with the two blocking protrusions (3-2), the compression springs II (3-3) are sleeved on the middle slide bar (3-1), the compression springs II (3-3) are located between the blocking protrusions (3-2) and the main beam (1-1), the two blocking protrusions (3-2) are hinged with the rotating plate connecting rods (3-4), the front end of the middle slide bar (3-1) is fixedly connected with the impact beams (3-7), the rear end of the middle sliding rod (3-1) is fixedly connected with a stop pin (3-8), and the stop pin (3-8) is positioned behind the middle grooved rod (1-3);
the sliding buffer components (2) comprise a sliding frame (2-1), a fixed sleeve (2-3), a rotating plate (2-5), a fastening screw II (2-6), a spring loop bar (2-7), a convex block I (2-8), an upper seat I (2-9), an upper seat II (2-10), a convex block II (2-11), a fastening screw III (2-12), a fixed frame (2-13) and a compression spring I (2-14), the sliding buffer components (2) are provided with two, the two sliding buffer components (2) are arranged at two ends of a main beam (1-1), the upper end and the lower end of the inner side of the sliding frame (2-1) are both provided with the convex blocks I (2-8), the sliding frame (2-1) is connected on two sliding chutes (1-2) on the main beam (1-1) in a sliding way through the two convex blocks I (2-8), the rear end of the sliding frame (2-1) is connected with a fastening screw II (2-6) through threads, the fastening screw II (2-6) is propped against the main beam (1-1), the upper end of the sliding frame (2-1) is provided with an upper seat I (2-9), the rear end of the rotating plate (2-5) is hinged at the front end of the sliding frame (2-1), the upper end and the lower end of the inner side of the fixed frame (2-13) are both provided with a convex block II (2-11), the fixed frame (2-13) is connected on two sliding chutes (1-2) on the main beam (1-1) through the two convex blocks II (2-11) in a sliding way, the front end of the fixed frame (2-13) is connected with a fastening screw III (2-12) through threads, the fastening screw III (2-12) is propped against the main beam (1-1), the upper seat II (2-10) is arranged at the upper, one end of a spring loop bar (2-7) is fixedly connected to an upper seat II (2-10), the other end of the spring loop bar (2-7) is connected to an upper seat I (2-9) in a sliding manner, a compression spring I (2-14) is sleeved on the spring loop bar (2-7) between the upper seat I (2-9) and the upper seat II (2-10), and the front ends of two rotating plates (2-5) are fixedly connected with fixing sleeves (2-3); the two rotating plate connecting rods (3-4) are respectively connected to the two fixed sleeves (2-3) in a sliding manner;
the impact beam assembly (3) further comprises spring connecting plates II (3-5) and extension springs (3-6), the outer ends of the two rotating plate connecting rods (3-4) are fixedly connected with the spring connecting plates II (3-5), and one ends of the extension springs (3-6) are connected to the spring connecting plates II (3-5) in a welding mode;
the main beam assembly (1) further comprises connecting plates (1-5), the two ends of the main beam (1-1) are fixedly connected with the connecting plates (1-5), and the rear ends of the connecting plates (1-5) are provided with circular through holes;
the sliding buffer assembly (2) further comprises a spring connecting plate I (2-2) and fastening screws I (2-4), the spring connecting plate I (2-2) is fixedly connected to the fixed sleeve (2-3), the inner ends of the two extension springs (3-6) are respectively welded to the spring connecting plate I (2-2), the fastening screws I (2-4) are connected to the fixed sleeve (2-3) through threads, and the fastening screws I (2-4) are pressed against the rotating plate connecting rods (3-4);
the working method of the robot anti-collision external device comprises the following steps: the robot anti-collision external device comprises two buffer force states, and the first buffer force state of the device is as follows: the rotating plate connecting rod and the rotating plate are fixed together by using a fastening screw I, the sliding frame is connected with the main beam in a sliding manner by loosening the fastening screw II, the fixing frame can slide on the main beam so as to adjust the force of the compression spring I, after the force of the compression spring I is adjusted, the fixing frame is fixed on the main beam by using a fastening screw III, the middle sliding rod is driven to slide backwards when the impact beam assembly is impacted, the middle sliding rod slides backwards to extrude the compression spring II, the two sliding frames are driven to move outwards by the rotating plate connecting rod and the rotating plate while the middle sliding rod slides backwards, the two sliding frames move outwards to press the corresponding compression spring I, and the impact is buffered by the two compression springs I and the compression spring II;
the second state of the buffer force of the device is: loosening the fastening screw I to enable the rotating plate connecting rod to be in sliding connection with the rotating plate, fixing the two sliding frames on the main beam by using the fastening screw II, driving the middle sliding rod to slide backwards when the impact beam assembly is impacted, enabling the middle sliding rod to slide backwards to extrude the compression spring II, enabling the two rotating plate connecting rods to slide outwards on the corresponding fixing sleeves when the middle sliding rod slides backwards, increasing the distance between the spring connecting plate I and the spring connecting plate II, extending the extension spring, and buffering impact by the two extension springs and the compression spring II.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811077896.8A CN109093652B (en) | 2018-02-05 | 2018-02-05 | Working method of robot anti-collision external device |
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| 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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| CN201810110354.XA Division CN108284457B (en) | 2018-02-05 | 2018-02-05 | A kind of robot anticollision external device |
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| CN109093652A CN109093652A (en) | 2018-12-28 |
| CN109093652B true CN109093652B (en) | 2021-07-27 |
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| CN109571551B (en) * | 2018-11-16 | 2021-05-28 | 江苏长虹智能装备股份有限公司 | Automatic transfer robot buffer stop |
| CN110656626B (en) * | 2019-10-17 | 2020-09-18 | 哈尔滨学院 | Changeable formula damping energy dissipation collision avoidance system |
| 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 |
| CN111688727B (en) * | 2020-06-23 | 2021-03-19 | 郑州铁路职业技术学院 | Subway electromechanical device protector |
| CN112863809B (en) * | 2021-01-20 | 2022-09-16 | 芜湖金牛电气股份有限公司 | Transformer not easy to damage in carrying process |
| CN113001591B (en) * | 2021-04-07 | 2023-01-03 | 华芯电子科技(江苏)有限公司 | Intelligent interaction robot prevents falling device |
| CN113370173A (en) * | 2021-06-11 | 2021-09-10 | 徐州楚创智能设备有限公司 | Cruising obstacle avoidance structure based on intelligent robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108284457B (en) | 2019-01-01 |
| CN108284457A (en) | 2018-07-17 |
| CN109093652A (en) | 2018-12-28 |
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