CN112976059B - Collision structure of robot and robot - Google Patents
Collision structure of robot and robot Download PDFInfo
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- CN112976059B CN112976059B CN202110533492.0A CN202110533492A CN112976059B CN 112976059 B CN112976059 B CN 112976059B CN 202110533492 A CN202110533492 A CN 202110533492A CN 112976059 B CN112976059 B CN 112976059B
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- buffer
- satellite
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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
- B25J19/0091—Shock absorbers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a collision structure of a robot and the robot, the collision structure of the robot comprises an installation part and a collision part, more than one buffer device is arranged between the installation part and the collision part, a satellite shaft is arranged between the buffer devices, the adjacent buffer devices are connected through the satellite shaft, the buffer device comprises a satellite plate and an installation plate, a connecting rod is arranged between the satellite plate and the installation plate, two ends of the connecting rod are respectively connected with the installation plate and the satellite plate in a rotating way and are arranged in an inclined way, a first buffer spring is arranged on the connecting rod, one end of the first buffer spring is vertical to and fixedly connected with the connecting rod, the other end of the first buffer spring is provided with a first buffer rubber particle, the first buffer rubber particle is fixedly connected with the installation plate, a connecting hole matched with the satellite shaft is arranged on the connecting rod, the satellite shaft is inserted into the connecting hole; the feedback effect is good when the collision structure of the robot collides.
Description
Technical Field
The invention relates to the field of robots, in particular to a collision structure of a robot and the robot.
Background
The extensive application of collision structural system of robot is in all kinds of walking robots, for example, the robot of sweeping the floor, all have the application in food delivery robot and factory storehouse conveying robot, at present in the collision structural system of robot, adopt the mode of shell fragment or pendulum rod basically, traditional pendulum rod adopts hypotenuse and face contact mode, make the collision resistance great, the robot collision response of sweeping the floor is insensitive, thereby it is not good to lead to collision response and feedback effect, and the atress is uneven during shell fragment formula's structure collision, it is not good to lead to collision response feedback effect easily when collision piece side collision atress, there is certain demand to collision angle, be fit for the structure of miniature structure or a plurality of collision sensor and use.
In view of the above, it is necessary to develop a collision sensing structure for a robot to solve the above problems.
Disclosure of Invention
The invention aims to provide a collision structure of a robot with good feedback effect during collision.
In order to solve the problems, the invention adopts the following technical scheme:
a collision structure of a robot comprises a mounting part and a collision part, wherein more than one buffer device is arranged between the mounting part and the collision part, a satellite shaft is arranged between the buffer devices, the adjacent buffer devices are connected through the satellite shaft, the buffer devices comprise a satellite plate and a mounting plate, the satellite plate is fixedly connected with the collision part, the mounting plate is fixedly connected with the mounting part, a connecting rod is arranged between the satellite plate and the mounting plate, two ends of the connecting rod are respectively connected with the mounting plate and the satellite plate in a rotating way and are arranged in an inclined way, a first buffer spring is arranged on the connecting rod, one end of the first buffer spring is vertical to and fixedly connected with the connecting rod, the other end of the first buffer spring is provided with first buffer rubber particles, the first buffer rubber particles are fixedly connected with the mounting plate, and the connecting rod is provided with a connecting hole matched with the satellite shaft, the satellite shaft is inserted into the connecting hole.
Preferably, a storage tank is arranged in the middle of the mounting plate, a connecting frame is arranged in the storage tank, a guide pipe is arranged in the middle of the connecting frame, a movable column is inserted into the guide pipe, a pressure sensor is embedded at one end part, close to the connecting rod, of the movable column, the pressure sensor is positioned on one side of the connecting rod, a buffer cushion is arranged between the connecting rod and the pressure sensor, the buffer cushion is adhered to the connecting rod, an opposite-vertex wave spring is arranged on the bottom of the storage tank, one end of the opposite-vertex wave spring is fixedly connected with the bottom of the storage tank, the other end of the opposite-vertex wave spring is inserted into the guide pipe and fixedly connected with the movable column, one end, embedded with the pressure sensor, of the movable column is ejected out of the guide pipe through the opposite-vertex wave spring, the pressure sensor is combined into a collision structure, and the pressure sensor participates in buffering work, so that the collision feedback sensitivity can be effectively improved, meanwhile, the pressure sensor is not easy to be damaged by pressure.
Preferably, the satellite plate and the mounting plate are both provided with embedded grooves, second buffer rubber particles are installed in the embedded grooves, first shaft holes and movable grooves matched with the connecting rods are formed in the second buffer rubber particles, metal positioning pipes are arranged in the first shaft holes and are bonded with the second buffer rubber particles, second shaft holes are formed in the connecting rods and are inserted into the movable grooves, pin shafts are inserted into the metal positioning pipes and the second shaft holes, the connecting rods are rotatably connected with the second buffer rubber particles through the metal positioning pipes and the pin shafts, the metal positioning pipes and the pin shafts are in interference fit, the second buffer rubber particles are arranged, the second buffer rubber particles are rotatably connected with the connecting rods, the whole rotatably connected structure has a buffering effect, and the buffering performance can be further improved.
Preferably, a foaming rubber pad is arranged below the rear portion of the satellite plate, a third buffering rubber particle is arranged on one side of the foaming rubber pad, one side of the foaming rubber pad is bonded with the satellite plate, the other side of the foaming rubber pad is bonded with the third buffering rubber particle, a second buffering spring is arranged on the third buffering rubber particle, one end of the second buffering spring is fixedly connected with the third buffering rubber particle, the other end of the second buffering spring is fixedly connected with the second buffering rubber particle on the mounting plate, and the overall buffering performance can be improved by the arrangement of the third buffering rubber particle and the second buffering spring.
Preferably, the third buffer rubber grain is provided with an insertion hole, a transmission rod is inserted into the insertion hole, the tail end of the transmission rod is fixedly connected with the connecting rod, the transmission rod is perpendicular to the connecting rod, and when a foreign object collides with the lower position of the collision part, a part of impact force can be dispersed onto the connecting rod due to the action of the transmission rod, so that the stress consistency is improved.
As preferred, be provided with on the cushion and exert pressure the seat, the seat of exerting pressure is the hemisphere setting, the seat of exerting pressure sets up with cushion formula as an organic whole, the seat of exerting pressure is located pressure sensor's the place ahead, through being provided with the seat of exerting pressure, the seat of exerting pressure can be pressed on pressure sensor the very first time when the connecting rod atress is drawn close toward the mounting panel, can guarantee to exert pressure the face, is favorable to the pressure sensor atress.
Preferably, the opposite-top wave spring is in clearance fit with the guide pipe, and the mode of clearance fit is adopted, so that noise and abrasion caused by mutual friction of the opposite-top wave spring and the guide pipe can be avoided.
Preferably, the bottom surface of the mounting plate is provided with a limit strip for avoiding the satellite plate from moving downwards after collision and reset, the limiting strip is connected with the mounting plate through a bolt, the tail end of the limiting strip is positioned below the third buffer rubber particle, the bottom surface of the third cushion rubber particle is arranged in an arc shape, the limit strip is provided with a reset positioning seat matched with the third cushion rubber particle, the reset positioning seat and the limit strip are arranged in an integrated manner, the reset positioning seat is provided with an arc surface matched with the bottom surface of the third buffer rubber particle, by arranging the limit strip, the situation that the satellite plate swings downwards due to the action of inertia when the satellite plate is reset can be avoided, the situation that the collision part is scratched to the ground due to the inertia effect in the resetting process can be avoided, the reset positioning seat can play a role in positioning, and the situation that the third buffer rubber particles, the foaming rubber pad and the limiting strip are clamped due to large inertia is avoided.
Preferably, the pressure sensor is provided with a data line, the movable column is provided with a first line hole matched with the data line, the mounting plate is provided with a second line hole matched with the data line, the second line hole is located in the storage tank, the data line sequentially penetrates through the first line hole, the opposite-top wave spring and the second line hole, and the arrangement of the line holes is convenient for workers to arrange the line.
The invention also provides a robot, which comprises the collision structure of the robot.
The invention has the beneficial effects that: because the satellite shafts are arranged between the buffer devices and the adjacent buffer devices are connected through the satellite shafts, when collision is received, the stress consistency in the buffer motion of the plurality of buffer devices is higher due to the action of the satellite shafts, the satellite shafts can disperse the stress, and the situation that the collision induction feedback effect is poor easily caused when the collision part is collided and stressed on the side surface is avoided;
meanwhile, the spring is adopted as a main buffering mechanism, the collision feedback sensitivity in the whole structure can be adjusted by adjusting the gram pressure of the spring, so that the use requirements of multiple industries are met, and the adaptability is high.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a collision structure of a robot according to the present invention.
Fig. 2 is a partial structural schematic diagram of a collision structure of a robot according to the present invention.
Fig. 3 is a schematic diagram of a collision structure of a robot according to the present invention after a bumper device is installed.
Fig. 4 is an enlarged view of the invention at a in fig. 1.
In the figure:
1. an installation part; 2. a collision section; 3. a buffer device; 4. a satellite shaft; 5. a satellite plate; 6. mounting a plate; 7. a connecting rod; 8. a first buffer spring; 9. first cushion rubber particles; 10. connecting holes; 11. a storage tank; 12. a connecting frame; 13. a guide tube; 14. a movable post; 15. a pressure sensor; 16. a cushion pad; 17. a wave spring opposite to the top; 18. second cushion rubber particles; 19. a pin shaft; 20. a foamed rubber pad; 21. third buffer rubber particles; 22. a second buffer spring; 23. a transmission rod; 24. a pressure application seat; 25. a limiting strip; 26. the positioning seat resets.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the embodiments, it should be understood that the terms "middle", "upper", "lower", "top", "right", "left", "above", "back", "middle", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the present embodiment, if the connection or fixing manner between the components is not specifically described, the connection or fixing manner may be a conventional manner such as bolt fixing, pin shaft connecting, adhesive fixing, or rivet fixing, which is commonly used in the prior art, and therefore, the detailed description thereof will not be provided in the examples.
Example 1
As shown in fig. 1-4, a collision structure of a robot includes a mounting portion 1 and a collision portion 2, a buffer device 3 is disposed between the mounting portion 1 and the collision portion 2, the buffer device 3 is provided with more than one, a satellite shaft 4 is disposed between the buffer devices 3 and the adjacent buffer devices 3 are connected through the satellite shaft 4, the buffer device 3 includes a satellite plate 5 and a mounting plate 6, the satellite plate 5 is fixedly connected with the collision portion 2, the mounting plate 6 is fixedly connected with the mounting portion 1, a link 7 is disposed between the satellite plate 5 and the mounting plate 6, two ends of the link 7 are respectively rotatably connected with the mounting plate 6 and the satellite plate 5 and are arranged in an inclined manner, a first buffer spring 8 is disposed on the link 7, one end of the first buffer spring 8 is perpendicular to and fixedly connected with the link 7, the other end of the first buffer spring 8 is provided with a first buffer rubber particle 9, the first buffer rubber grain 9 is fixedly connected with the mounting plate 6, a connecting hole 10 matched with the satellite shaft 4 is formed in the connecting rod 7, and the satellite shaft 4 is inserted into the connecting hole 10.
In the present embodiment, the satellite shaft functions like a stabilizer bar, and can maintain the balance of the collision part 2 at the time of collision.
Example 2
As shown in fig. 1-4, a collision structure of a robot includes a mounting portion 1 and a collision portion 2, a buffer device 3 is disposed between the mounting portion 1 and the collision portion 2, the buffer device 3 is provided with more than one, a satellite shaft 4 is disposed between the buffer devices 3 and the adjacent buffer devices 3 are connected through the satellite shaft 4, the buffer device 3 includes a satellite plate 5 and a mounting plate 6, the satellite plate 5 is fixedly connected with the collision portion 2, the mounting plate 6 is fixedly connected with the mounting portion 1, a link 7 is disposed between the satellite plate 5 and the mounting plate 6, two ends of the link 7 are respectively rotatably connected with the mounting plate 6 and the satellite plate 5 and are arranged in an inclined manner, a first buffer spring 8 is disposed on the link 7, one end of the first buffer spring 8 is perpendicular to and fixedly connected with the link 7, the other end of the first buffer spring 8 is provided with a first buffer rubber particle 9, the first buffer rubber grain 9 is fixedly connected with the mounting plate 6, a connecting hole 10 matched with the satellite shaft 4 is formed in the connecting rod 7, and the satellite shaft 4 is inserted into the connecting hole 10.
In this embodiment, a storage tank 11 is arranged in the middle of the mounting plate 6, a connection frame 12 is arranged in the storage tank 11, a guide pipe 13 is arranged in the middle of the connection frame 12, a movable column 14 is inserted into the guide pipe 13, a pressure sensor 15 is embedded at one end of the movable column 14 close to the connecting rod 7, the pressure sensor 15 is located at one side of the connecting rod 7, a buffer pad 16 is arranged between the connecting rod 7 and the pressure sensor 15, a gap is formed between the pressure sensor 15 and the buffer pad 16, the buffer pad 16 is adhered to the connecting rod 7, an opposite-vertex wave spring 17 is arranged on the bottom of the storage tank 11, one end of the opposite-vertex wave spring 17 is fixedly connected with the bottom of the storage tank 11, the other end of the opposite-vertex wave spring 17 is inserted into the guide pipe 13 and fixedly connected with the movable column 14, one end of the movable column 14, which is embedded with the pressure sensor 15, is ejected out of the guide pipe 13 through the opposite-vertex wave spring 17, combine pressure sensor 15 to in the collision structure to pressure sensor 15 has participated in the work of buffering, can effectually promote collision feedback sensitivity, and pressure sensor is difficult simultaneously because of the pressurized damage.
In this embodiment, each of the satellite plate 5 and the mounting plate 6 is provided with an insertion groove (not shown), each of the insertion grooves is provided with a second cushion rubber particle 18, each of the second cushion rubber particles 18 is provided with a first shaft hole (not shown) and a movable groove (not shown) matching with the link 7, the first shaft hole is internally provided with a metal positioning tube, the metal positioning tube is adhered to the second cushion rubber particle 18, the link 7 is provided with a second shaft hole (not shown), the link 7 is inserted into the movable groove, the metal positioning tube and the second shaft hole are internally provided with a pin 19, the link 7 is rotatably connected with the second cushion rubber particle 18 through the metal positioning tube and the pin 19, the metal positioning tube and the pin 19 are in interference fit, the second cushion rubber particle 18 is arranged, and the second cushion rubber particle 18 is rotatably connected with the link 7, the whole structure of rotating the connection has had the effect of buffering concurrently, promotion shock-absorbing capacity that can be further.
In this embodiment, the rear lower side of the satellite plate 5 is provided with a foaming rubber pad 20, one side of the foaming rubber pad 20 is provided with a third buffering rubber particle 21, one side of the foaming rubber pad 20 is bonded with the satellite plate 5, the other side of the foaming rubber pad 20 is bonded with the third buffering rubber particle 21, a second buffering spring 22 is arranged on the third buffering rubber particle 21, one end of the second buffering spring 22 is fixedly connected with the third buffering rubber particle 21, the other end of the second buffering spring 22 is fixedly connected with the second buffering rubber particle on the mounting plate 6, and the overall buffering performance can be improved by the arrangement of the third buffering rubber particle 21 and the second buffering spring 22.
In this embodiment, the third cushion rubber 21 is provided with an insertion hole (not shown), the transmission rod 23 is inserted into the insertion hole, the end of the transmission rod 23 is fixedly connected with the connecting rod 7, the transmission rod 23 is perpendicular to the connecting rod 7, and by providing the transmission rod 23, when a foreign object collides with a lower position of the collision part 2, a part of impact force can be dispersed to the connecting rod 7 due to the action of the transmission rod, so that the stress uniformity is improved.
In this embodiment, be provided with on the blotter 16 and exert pressure seat 24, it is the hemisphere setting to exert pressure seat 24, it sets up with 16 formula as an organic whole of blotter to exert pressure seat 24, it is located pressure sensor 15 the place ahead to exert pressure seat 24, through being provided with and exert pressure seat, and the connecting rod atress is exerted pressure the seat when drawing close toward the mounting panel and can be pressed on pressure sensor the very first time, can guarantee to exert pressure the face, is favorable to the pressure sensor atress.
In this embodiment, the opposite-vertex wave spring 17 is in clearance fit with the guide tube 13, and the mode of clearance fit is adopted, so that noise and abrasion caused by mutual friction between the opposite-vertex wave spring and the guide tube can be avoided.
In this embodiment, the bottom surface of the mounting plate 6 is provided with a limiting strip 25 which prevents the satellite plate 5 from moving downward after collision resetting, the limiting strip 25 is connected with the mounting plate 6 by a bolt, the end of the limiting strip 25 is located below the third cushion rubber particle 21, the bottom surface of the third cushion rubber particle 21 is arranged in an arc shape, the limiting strip 25 is provided with a resetting positioning seat 26 matched with the third cushion rubber particle 21, the resetting positioning seat 26 and the limiting strip 25 are arranged in an integrated manner, the resetting positioning seat 26 is provided with an arc surface matched with the bottom surface of the third cushion rubber particle 21, by configuring the limiting strip 25, the situation that the satellite plate 5 swings downward due to inertia during resetting can be avoided, the situation that the collision part 2 scratches the ground due to inertia during resetting can be avoided, and the resetting positioning seat 26 can play a role in positioning, the situation that the third cushion rubber particle 21, the foamed rubber pad 20 and the limiting strip 25 are clamped due to large inertia is avoided.
In this embodiment, a data line (not shown) is disposed on the pressure sensor 15, a first line hole (not shown) paired with the data line is disposed on the movable column 14, a second line hole (not shown) paired with the data line is disposed on the mounting plate 6, the second line hole is located in the storage tank 11, the data line sequentially passes through the first line hole, the opposite-vertex wave spring 17 and the second line hole, and the arrangement of the line holes facilitates the wiring of workers.
The invention has the beneficial effects that: because the satellite shafts are arranged between the buffer devices and the adjacent buffer devices are connected through the satellite shafts, when collision is received, the stress consistency in the buffer motion of the plurality of buffer devices is higher due to the action of the satellite shafts, the satellite shafts can disperse the stress, and the situation that the collision induction feedback effect is poor easily caused when the collision part is collided and stressed on the side surface is avoided;
meanwhile, the spring is adopted as a main buffering mechanism, the collision feedback sensitivity in the whole structure can be adjusted by adjusting the gram pressure of the spring, so that the use requirements of multiple industries are met, and the adaptability is high.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through the inventive work should be included in the scope of the present invention.
Claims (10)
1. A collision structure of a robot, characterized in that: the satellite buffer device comprises an installation part and an impact part, wherein more than one buffer device is arranged between the installation part and the impact part, a satellite shaft is arranged between the buffer devices, the adjacent buffer devices are connected through the satellite shaft, the buffer device comprises a satellite plate and an installation plate, the satellite plate is fixedly connected with the impact part, the installation plate is fixedly connected with the installation part, a connecting rod is arranged between the satellite plate and the installation plate, two ends of the connecting rod are respectively connected with the installation plate and the satellite plate in a rotating way and are arranged in an inclined way, a first buffer spring is arranged on the connecting rod, one end of the first buffer spring is vertical to and fixedly connected with the connecting rod, the other end of the first buffer spring is provided with first buffer rubber particles, the first buffer rubber particles are fixedly connected with the installation plate, and the connecting rod is provided with a connecting hole matched with the satellite shaft, the satellite shaft is inserted into the connecting hole.
2. A collision structure of a robot according to claim 1, wherein: the mounting panel middle part is provided with the hold up tank, be provided with the link in the hold up tank, the link middle part is provided with the stand pipe, the stand pipe has inserted movable post, a tip that the activity post is close to the connecting rod is inlayed and is had pressure sensor, pressure sensor is located one side of connecting rod, be provided with the blotter between connecting rod and the pressure sensor, the blotter bonds with the connecting rod, be provided with opposite vertex wave spring on the tank bottom of hold up tank, opposite vertex wave spring one end and the tank bottom fixed connection of hold up tank, the opposite vertex wave spring other end insert in the stand pipe and with activity post fixed connection, the activity post is inlayed and is had pressure sensor's one end outside the ejecting stand pipe of opposite vertex wave spring is passed through.
3. A collision structure of a robot according to claim 2, wherein: the satellite plate is characterized in that embedded grooves are formed in the satellite plate and the mounting plate, second buffer rubber particles are installed in the embedded grooves, first shaft holes and movable grooves matched with the connecting rods are formed in the second buffer rubber particles, metal positioning pipes are arranged in the first shaft holes and are bonded with the second buffer rubber particles, second shaft holes are formed in the connecting rods and are inserted into the movable grooves, pin shafts are inserted into the metal positioning pipes and the second shaft holes, the connecting rods are rotatably connected with the second buffer rubber particles through the metal positioning pipes and the pin shafts, and the metal positioning pipes and the pin shafts are in interference fit.
4. A collision structure of a robot according to claim 3, wherein: the satellite plate is characterized in that a foaming rubber pad is arranged below the rear portion of the satellite plate, third buffering rubber particles are arranged on one side of the foaming rubber pad, one surface of the foaming rubber pad is bonded with the satellite plate, the other surface of the foaming rubber pad is bonded with the third buffering rubber particles, second buffering springs are arranged on the third buffering rubber particles, one ends of the second buffering springs are fixedly connected with the third buffering rubber particles, and the other ends of the second buffering springs are fixedly connected with the second buffering rubber particles on the mounting plate.
5. The collision structure of a robot according to claim 4, wherein: an insertion hole is formed in the third buffer rubber grain, a transmission rod is inserted into the insertion hole, the tail end of the transmission rod is fixedly connected with the connecting rod, and the transmission rod is perpendicular to the connecting rod.
6. The collision structure of a robot according to claim 5, wherein: the pressure applying seat is arranged on the buffer cushion and is arranged in a hemispherical shape, the pressure applying seat and the buffer cushion are arranged in an integrated mode, and the pressure applying seat is located in front of the pressure sensor.
7. The collision structure of a robot according to claim 6, wherein: the opposite-vertex wave spring is in clearance fit with the guide pipe.
8. A collision structure of a robot according to claim 7, wherein: the mounting panel bottom surface is provided with the spacing of avoiding satellite board collision to reset back down and removing, spacing and mounting panel bolted connection, spacing end is located the below of third cushion rubber grain, the bottom surface of third cushion rubber grain is the arc setting, be provided with the positioning seat that resets that pairs with third cushion rubber grain on the spacing, the positioning seat that resets sets up with spacing formula as an organic whole, be provided with the cambered surface of pairing with the bottom surface of third cushion rubber grain on the positioning seat that resets.
9. A collision structure of a robot according to claim 8, wherein: the pressure sensor is provided with a data line, the movable column is provided with a first line hole matched with the data line, the mounting plate is provided with a second line hole matched with the data line, the second line hole is positioned in the storage tank, and the data line sequentially penetrates through the first line hole, the opposite-top wave spring and the second line hole.
10. A robot, characterized by: collision structure comprising a robot according to any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110533492.0A CN112976059B (en) | 2021-05-17 | 2021-05-17 | Collision structure of robot and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110533492.0A CN112976059B (en) | 2021-05-17 | 2021-05-17 | Collision structure of robot and robot |
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| CN112976059A CN112976059A (en) | 2021-06-18 |
| CN112976059B true CN112976059B (en) | 2021-07-27 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010208626A (en) * | 2009-03-10 | 2010-09-24 | Weistech Technology Co Ltd | Bumper structure for automatic movement device |
| KR20130005513A (en) * | 2011-07-06 | 2013-01-16 | 주식회사 유진로봇 | Bumper assembly for moving robot |
| CN108724220A (en) * | 2018-07-21 | 2018-11-02 | 南京樯图数据科技有限公司 | A kind of robot applied to meeting |
| CN209987881U (en) * | 2019-03-18 | 2020-01-24 | 哈尔滨理工大学 | Automobile collision buffer device |
| CN210256164U (en) * | 2019-09-17 | 2020-04-07 | 海南巴比特网络科技有限公司 | Anticollision food and beverage service robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT519655B1 (en) * | 2017-04-24 | 2018-09-15 | Blue Danube Robotics Gmbh | Detecting a collision of a handling device with an obstacle |
-
2021
- 2021-05-17 CN CN202110533492.0A patent/CN112976059B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010208626A (en) * | 2009-03-10 | 2010-09-24 | Weistech Technology Co Ltd | Bumper structure for automatic movement device |
| KR20130005513A (en) * | 2011-07-06 | 2013-01-16 | 주식회사 유진로봇 | Bumper assembly for moving robot |
| CN108724220A (en) * | 2018-07-21 | 2018-11-02 | 南京樯图数据科技有限公司 | A kind of robot applied to meeting |
| CN209987881U (en) * | 2019-03-18 | 2020-01-24 | 哈尔滨理工大学 | Automobile collision buffer device |
| CN210256164U (en) * | 2019-09-17 | 2020-04-07 | 海南巴比特网络科技有限公司 | Anticollision food and beverage service robot |
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| CN112976059A (en) | 2021-06-18 |
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