CN108115726A - Anticollision device, collision-prevention device and the robot with the anticollision device, collision-prevention device - Google Patents
Anticollision device, collision-prevention device and the robot with the anticollision device, collision-prevention device Download PDFInfo
- Publication number
- CN108115726A CN108115726A CN201711261839.0A CN201711261839A CN108115726A CN 108115726 A CN108115726 A CN 108115726A CN 201711261839 A CN201711261839 A CN 201711261839A CN 108115726 A CN108115726 A CN 108115726A
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- Prior art keywords
- anticollision
- collision
- component
- sensor
- prevention device
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Classifications
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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
-
- 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
- B25J19/02—Sensing 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
- B25J19/02—Sensing devices
- B25J19/026—Acoustical sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of anticollision device, collision-prevention device and with the anticollision device, collision-prevention device robot, the anticollision device, collision-prevention device includes the first anticollision component and the second anticollision component, the first anticollision component is used to sense barrier and when the distance of the first anticollision component away from the barrier is pre-determined distance, sends the first pre-warning signal；The second anticollision component is arranged at the first anticollision component one side and deviates the sensing direction of the first anticollision component, and the second anticollision component is used for when the second anticollision component bumps against the barrier, sends the second pre-warning signal.The anticollision device, collision-prevention device of the present invention and have the advantages that the robot of the anticollision device, collision-prevention device is high with simple in structure and reliability.
Description
Technical field
The present invention relates to a kind of anticollision device, collision-prevention device and with the anticollision device, collision-prevention device robot.
Background technology
With the development of market economy, for an enterprise, production efficiency and production cost are enterprise's life power
Symbol in traditional industry, due to the excessive risk in specific post or highly difficult in production operation, has directly influenced production effect
Rate, while production cost is also increasing.The particularly special occasion of working environment, manual work is inconvenient or dangerous, leads to
It is often that operation is carried out by robot, manual work is replaced by robot, has liberated productivity, mitigates dependence of the enterprise to recruitment
Property, production cost is reduced, production efficiency is improved well and realizes industrial automation.
Since robot is born, machine man-based development is throughout machinery, electronics, metallurgy, traffic, aerospace, national defence etc.
Field.The level of intelligence of robot is continuously improved in recent years, and rapidly changed people’s lives mode.People are continuous
It inquires into, transform, during the knowledge of natural environment, the machine that manufacture can substitute people's work is always the dream of the mankind.Existing machine
People navigates to it by alignment system, so that robot is moved towards predetermined direction.However, when navigation system breaks down
Or during yaw, the robot is easily bumped against on barrier.
The content of the invention
Present invention solves the technical problem that it is to provide a kind of anticollision device, collision-prevention device simple in structure, reliability is high and prevents with this
The robot of collision device.
On the one hand, the present invention provides a kind of anticollision device, collision-prevention devices, including the first anticollision component and the second anticollision component, described
One anticollision component is used to sense barrier and when the distance of the first anticollision component away from the barrier is pre-determined distance, hair
Go out the first pre-warning signal；The second anticollision component is arranged at the first anticollision component one side and deviates the first anticollision portion
The sensing direction of part, the second anticollision component are used for when the second anticollision component bumps against the barrier, send second
Pre-warning signal.
Preferably, the first anticollision component includes first sensor and second sensor, and the first sensor is used for
Sense the barrier of first direction, the second sensor is used to sense the barrier of second direction.
Preferably, the first anticollision component further includes the first mounting bracket and the first protective cover, the first sensor and
The second sensor is arranged on first mounting bracket, and first protective cover is sheathed on first mounting bracket, institute
It states the first protective cover and is provided with and sense window correspondingly with the first sensor and the second sensor.
Preferably, the first sensor and the second sensor are photoelectric sensor.
Preferably, the second anticollision component includes 3rd sensor, sensing baffle and elastic component, the elastic component and institute
It states sensing baffle to be connected, so that the sensing baffle can reset after being acted on by external force；The 3rd sensor and the sensing
Baffle is oppositely arranged, for when the sensing baffle position changes, sending the second pre-warning signal.
Preferably, the 3rd sensor includes Hall sensor, and the sensing baffle includes magnetic part.
Preferably, the second anticollision component further includes fixed column, and the fixed column is fixed on the sensing baffle, institute
It states and screw thread is provided on the outer circumferential surface of fixed column；The elastic component is spring, and institute's spring is set in the outer circumferential surface of the fixed column
On, and be connected with the screw thread close-fitting of the fixed column.
Preferably, the anticollision device, collision-prevention device further includes connecting plate, the first end of the connecting plate and the first anticollision component
It is connected, the second end of the connecting plate is connected with the sensing baffle；The first anticollision component and the second anticollision component
It is spaced the setting of the first pre-determined distance.
Preferably, the anticollision device, collision-prevention device further includes slot cover plate, and the connecting plate is provided with wire casing, one end of the wire casing
Extend to the junction of the connecting plate and the first anticollision component, the other end of the wire casing extend to the connecting plate with
The junction of the second anticollision component；The slot cover plate is covered on the wire casing, and the slot cover plate is backwards to the line
The surface of slot and the flush of the connecting plate；The first anticollision component is connected with the conducting wire for being used for transmission signal, described
Conducting wire is pierced by from the wire casing.
On the other hand, the present invention also provides a kind of robot, it is electrically connected including control device and with the control device
Anticollision device, collision-prevention device, wherein, the anticollision device, collision-prevention device is anticollision device, collision-prevention device described in any one of the above embodiments.
In conclusion the present invention the anticollision device, collision-prevention device include the first anticollision component and the second anticollision component, described first
Anticollision component is used to sense barrier and when the distance of the first anticollision component away from the barrier is pre-determined distance, sends
First pre-warning signal；The second anticollision component is arranged at the first anticollision component one side and deviates the first anticollision component
Sensing direction, the second anticollision component is used for when the second anticollision component bumps against the barrier, and it is pre- to send second
Alert signal.Since the first anticollision component is when also not with bar contact, the first pre-warning signal is just sent, when described
When two anticollision components bump against the barrier, also send the second pre-warning signal, therefore, by the first anticollision component with it is described
The cooperation of second anticollision component so as to which reliability is preferable, significantly reduces the probability for bumping against barrier, and structure is simpler
It is single, convenient for manufacturing and using.Make the robot overall structure with the anticollision device, collision-prevention device simple simultaneously, reliability is high, convenient for safeguarding.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the preferred embodiment of anticollision device, collision-prevention device of the present invention.
Fig. 2 is the decomposition texture schematic diagram of the preferred embodiment of anticollision device, collision-prevention device of the present invention.
Fig. 3 is the structure diagram of the part-structure of the preferred embodiment of anticollision device, collision-prevention device of the present invention.
Fig. 4 is the decomposition texture signal of the part-structure of the second anticollision component of the preferred embodiment of anticollision device, collision-prevention device of the present invention
Figure.
Fig. 5 is the structure diagram of the first mounting bracket of the preferred embodiment of anticollision device, collision-prevention device of the present invention.
Fig. 6 is the dimensional structure diagram of the preferred embodiment of the robot of the present invention.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.If it should be noted that do not conflicted, this hair
Each feature in bright embodiment and embodiment can be combined with each other, within protection scope of the present invention.
It please refers to Fig.1 to Fig. 6, the present invention provides a kind of anticollision device, collision-prevention device, including the first anticollision component 1 and the second anticollision portion
Part 2, the first anticollision component 1 are used to sense barrier and when 1 distance away from the barrier of the first anticollision component is
During pre-determined distance, the first pre-warning signal is sent；The second anticollision component 2 is arranged at 1 one side of the first anticollision component and inclined
Sensing direction from the first anticollision component 1, the second anticollision component 2 are used to bump against institute when the second anticollision component 2
When stating barrier, the second pre-warning signal is sent.It is understood that the first anticollision component 1 and the second anticollision component 2 can be with
It is fixed together, pre-determined distance can also be spaced, as long as the second anticollision component 2 is not located at the first anticollision component 1
Sense direction.
Preferably, the first anticollision component 1 includes first sensor 11 and second sensor 12, the first sensor
11 for sensing the barrier of first direction, and the second sensor 12 is used to sense the barrier of second direction.By described
First sensor 11 and second sensor 12 sense the barrier of different directions, thus can preferably avoid collision barrier.
In practice, the first sensor 11 is commonly used in the barrier in sensing front, the second sensor 12 usually use
Barrier in the upper direction of sensing, thus improve security.
Preferably, the first anticollision component 1 further includes the first mounting bracket 13 and the first protective cover 14, first sensing
Device 11 and the second sensor 12 are arranged on first mounting bracket 13, and first protective cover 14 is sheathed on described first
On mounting bracket 13, first protective cover 14 is provided with to be corresponded with the first sensor 11 and the second sensor 12
Sensing window 141, thus, not only the first anticollision component 1 can preferably be protected, but also be avoided mutually dry
It disturbs.In the present embodiment, the first sensor 11 and the second sensor 12 are photoelectric sensor.It is understood that
The first sensor 11 and the second sensor 12 or ultrasonic sensor, therefore, the first sensor 11
And the type of the second sensor 12 is not especially limited herein.
Specifically, in the present embodiment, first mounting bracket 13 is an integral molding structure, including the first side wall 131,
Second sidewall 132, the 3rd side wall 133, the first fixation wall 134, the second fixation wall 135, the first connection wall 136 and the second connection wall
137, the opposite both ends in 131 position of the first side wall are connected respectively with the second sidewall 132 and the 3rd side wall 133,
The second sidewall 132 is respectively positioned on the same side of the first side wall 131, the second sidewall 132 with the 3rd side wall 133
Distinguish the first side wall 131 with the 3rd side wall 133 and form first angle and second angle, first fixation wall 134
Positioned at the same side of the second sidewall 132 and the 3rd side wall 133 and with the second sidewall 132 and the 3rd side wall
133 be connected, second fixation wall 135 be located at the same side of the second sidewall 132 and the 3rd side wall 133 and with it is described
First fixation wall 134 is vertically connected.The first sensor 11 is fixed in first fixation wall 134, second sensing
Device 12 is fixed on the side of second fixation wall 135, and second fixation wall 135 is located at the first sensor 11 and institute
It states between second sensor 12.First connection wall 136 is connected with the second sidewall 132, second connection wall 137 with
3rd side wall 133 is connected, and first connection wall 136 and second connection wall 137 are respectively positioned on the second sidewall 132
And between the 3rd side wall 133.
Since the first angle and second angle are acute angle, thus when the second sidewall 132 and the 3rd side
When wall 133 is hit backwards to the end of the first side wall 131, the second sidewall 132 and the 3rd side wall 133 are simultaneously
Stress, and be easy to bend to 131 direction of the first side wall, thus preferably avoid because of the first sensor 11 and described the
When two sensors 12 are by external force collision, the problem of being easily damaged.Further, since the second sensor 12 is fixed on described second
On the side of fixation wall 135, second fixation wall 135 be located at the first sensor 11 and the second sensor 12 it
Between, thus be not only convenient for manufacturing, and the first sensor 11 is avoided to be interfered with each other with the second sensor 12.By
It is an integral molding structure in first mounting bracket 13, thus structure is more firm.
Preferably, the second anticollision component 2 includes 3rd sensor 21, sensing baffle 22, elastic component 23, fixed link 25
And fixed block 26, the elastic component 23 is connected with the sensing baffle 22, so that described sense energy after baffle 22 is acted on by external force
Enough to reset, the elastic component can be flexible silicon rubber column gel column or shrapnel etc..The 3rd sensor 21 and the sensing baffle 22
It is oppositely arranged, for when 22 position of the sensing baffle changes, sending the second pre-warning signal.In the present embodiment, institute
Elastic component 23 is stated as spring, one end of the elastic component 23 is connected with the sensing baffle 22, the other end of the elastic component 23
It is arranged and is connected with the fixed link 24, the fixed link 25 is connected with the fixed block 26, and the 3rd sensor 21 is fixed on
On the fixed block 26.In order to more accurately detect, it is highly preferred that the quantity of the 3rd sensor 21 is two, two institutes
It states 3rd sensor 21 and is separately fixed at the opposite both sides in 26 position of fixed block, and two with the sensing baffle 22 respectively
End position is corresponding.
In one embodiment, one end of the elastic component 23 is connected with the sensing baffle 22, the elastic component 23
The other end is connected with the 3rd sensor 21.The 3rd sensor 21 can be the switch blocks such as inductive switch.Described
Two anticollision components 2 can also be that mechanical switch can also be electronic switch.In the present embodiment, the 3rd sensor 21 includes
Hall sensor, the sensing baffle 22 include magnetic part, and the magnetic part can be iron plate or other plate of magnetic material etc..
When the position of the magnetic part changes, the Hall sensor just sends the second pre-warning signal.
Preferably, the second anticollision component 2 further includes fixed column 24, and the fixed column 24 is fixed on the sensing baffle
On 22, screw thread is provided on the outer circumferential surface of the fixed column 24；Institute's spring is set on the outer circumferential surface of the fixed column 24, and with
The screw thread close-fitting connection of the fixed column 24, the fixed link 25 are also equipped with screw thread with the outer circumferential surface that the spring is connected.By
In being provided with screw thread on the outer circumferential surface of the fixed column 24, thus the helicoid in the spring and the threaded connection, thus
It is not only convenient for manufacturing, and connects more stable and reliable.
Preferably, the anticollision device, collision-prevention device further includes connecting plate 3, the first end of the connecting plate 3 and the first anticollision portion
Part 1 is connected, and the second end of the connecting plate 3 is connected with the sensing baffle 22, first connection wall 136 and second company
Wall 137 is connect with the connecting plate 3 to be connected.When the connecting plate 3 is hit, then the connecting plate 3 of stating triggers the sense
Baffle 22 is answered, so that 22 position of the sensing baffle changes, so that the Hall sensor sends the second pre-warning signal.
The first anticollision component 1 is spaced the first pre-determined distance with the second anticollision component 2 and sets.It is understood that in one kind
In embodiment, the first anticollision component 1 can also be directly anchored on the second anticollision component 2, and connection structure is herein
It is not specifically limited.
In the present embodiment, the anticollision device, collision-prevention device further includes slot cover plate 4, and the connecting plate 3 is provided with wire casing 31, described
One end of wire casing 31 extends to the junction of the connecting plate 3 and the first anticollision component 1, and the other end of the wire casing 31 prolongs
Extend the junction of the connecting plate 3 and the second anticollision component 2；The slot cover plate 4 is covered on the wire casing 31, institute
Slot cover plate 4 is stated backwards to the surface of the wire casing 31 and the flush of the connecting plate 3；The first anticollision component 1 connects
The conducting wire (not shown) of transmission signal is useful for, the conducting wire is pierced by from the wire casing 31, thus, connect overall structure
It is more solid and reliable and simple and compact for structure.Above-mentioned anticollision device, collision-prevention device can be applied to the mobile vehicles such as workshop and transport material
A variety of mobile equipment such as trolley, robot and toy car on.
Referring to Fig. 4, the present invention provides a kind of robot, including vehicle frame 5, wheel 6, control device 7 and anticollision device, collision-prevention device 8,
The vehicle frame 5 is set there are two spaced two horizontally extending material support arms, and cargo can be positioned over described
On material support arm.The material branch gripping arm bottom is connected with the wheel 6, and the anticollision device, collision-prevention device 8 is fixed on the material branch
The end of brace, and be electrically connected with the control device 7.In the present embodiment, the anticollision device, collision-prevention device 8 is anticollision described above
Therefore device 8, also possesses identical technique effect.During work, the material fortune described in the robot band on material support arm
It is dynamic, when the anticollision device, collision-prevention device 8 finds to have barrier in front preset distance, the first anticollision portion of the anticollision device, collision-prevention device 8
Part 1 sends the first pre-warning signal to the control device 7, so as to control the robot stop motion.If first anticollision
Component 1 breaks down, then when the second anticollision component 2 bumps against the barrier, sends the second pre-warning signal to the control
Device 7 processed so as to control the robot stop motion, thus can protect robot well.
In conclusion the anticollision device, collision-prevention device 8 of the present invention includes the first anticollision component 1 and the second anticollision component 2, described the
One anticollision component 1 is used to sense barrier and when 1 distance away from the barrier of the first anticollision component is pre-determined distance,
Send the first pre-warning signal；The second anticollision component 2, which is arranged at 1 one side of the first anticollision component and deviates described first, to be prevented
The sensing direction of component 1 is hit, the second anticollision component 2 is used for when the second anticollision component 2 bumps against the barrier, hair
Go out the second pre-warning signal.Since the first anticollision component 1 is when also not with bar contact, the first pre-warning signal is just sent,
When the second anticollision component 2 bumps against the barrier, the second pre-warning signal is also sent, it is therefore, anti-by described first
The cooperation of component 1 and the second anticollision component 2 is hit, so as to which reliability is preferable, significantly reduces the probability for bumping against barrier,
And structure is simpler, convenient for manufacturing and using.Make the robot overall structure with the anticollision device, collision-prevention device 8 simple simultaneously, reliably
Property it is high, convenient for safeguarding.
Anticollision device, collision-prevention device provided by the present invention and the robot with the anticollision device, collision-prevention device are described in detail above, this
Specific case is applied in text to be set forth the principle of the present invention and embodiment, the explanation of above example is only intended to
It helps to understand method and its core concept of the invention；Meanwhile for those of ordinary skill in the art, think of according to the invention
Think, in specific embodiments and applications there will be changes, in conclusion this specification content is only the present invention's
Embodiment is not intended to limit the scope of the invention, it is every using description of the invention and accompanying drawing content made etc.
Structure or equivalent process transformation are imitated, other related technical areas is directly or indirectly used in, is similarly included in the present invention
Scope of patent protection in.It should not be construed as limiting the invention.
Claims (10)
1. a kind of anticollision device, collision-prevention device, it is characterised in that：Including the first anticollision component and the second anticollision component, the first anticollision component
For sensing barrier and when the distance of the first anticollision component away from the barrier is pre-determined distance, sending the first early warning
Signal；The second anticollision component is arranged at the first anticollision component one side and deviates the sensing side of the first anticollision component
To the second anticollision component is used for when the second anticollision component bumps against the barrier, sends the second pre-warning signal.
2. anticollision device, collision-prevention device according to claim 1, it is characterised in that：The first anticollision component include first sensor and
Second sensor, the first sensor are used to sense the barrier of first direction, and the second sensor is for sensing second
The barrier in direction.
3. anticollision device, collision-prevention device according to claim 2, it is characterised in that：The first anticollision component further includes the first mounting bracket
And first protective cover, the first sensor and the second sensor are arranged on first mounting bracket, described first protects
Shield is sheathed on first mounting bracket, and first protective cover is provided with and the first sensor and second sensing
Device senses window correspondingly.
4. the anticollision device, collision-prevention device according to Claims 2 or 3, it is characterised in that：The first sensor and second sensing
Device is photoelectric sensor.
5. anticollision device, collision-prevention device according to any one of claims 1 to 3, it is characterised in that：The second anticollision component includes the
Three sensors, sensing baffle and elastic component, the elastic component are connected with the sensing baffle, so that the sensing baffle is by external force
It can be resetted after effect；The 3rd sensor is oppositely arranged with the sensing baffle, for working as the sensing baffle position hair
During changing, the second pre-warning signal is sent.
6. anticollision device, collision-prevention device according to claim 5, it is characterised in that：The 3rd sensor includes Hall sensor, institute
Stating sensing baffle includes magnetic part.
7. anticollision device, collision-prevention device according to claim 5, it is characterised in that：The second anticollision component further includes fixed column, institute
It states fixed column to be fixed on the sensing baffle, screw thread is provided on the outer circumferential surface of the fixed column；The elastic component is spring,
Institute's spring is set on the outer circumferential surface of the fixed column, and is connected with the screw thread close-fitting of the fixed column.
8. anticollision device, collision-prevention device according to claim 5, it is characterised in that：The anticollision device, collision-prevention device further includes connecting plate, the company
The first end of fishplate bar is connected with the first anticollision component, and the second end of the connecting plate is connected with the sensing baffle；It is described
First anticollision component is set with the first pre-determined distance of the second anticollision parts space.
9. anticollision device, collision-prevention device according to claim 8, it is characterised in that：The anticollision device, collision-prevention device further includes slot cover plate, described
Connecting plate is provided with wire casing, and one end of the wire casing extends to the junction of the connecting plate and the first anticollision component, institute
The other end for stating wire casing extends to the junction of the connecting plate and the second anticollision component；The slot cover plate is covered on institute
It states on wire casing, the slot cover plate is backwards to the surface of the wire casing and the flush of the connecting plate；The first anticollision portion
Part is connected with the conducting wire for being used for transmission signal, and the conducting wire is pierced by from the wire casing.
10. a kind of robot, including control device, it is characterised in that：The robot is further included to be electrically connected with the control device
The anticollision device, collision-prevention device connect, wherein, the anticollision device, collision-prevention device is claim 1 to 9 any one of them anticollision device, collision-prevention device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711261839.0A CN108115726A (en) | 2017-12-04 | 2017-12-04 | Anticollision device, collision-prevention device and the robot with the anticollision device, collision-prevention device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711261839.0A CN108115726A (en) | 2017-12-04 | 2017-12-04 | Anticollision device, collision-prevention device and the robot with the anticollision device, collision-prevention device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108115726A true CN108115726A (en) | 2018-06-05 |
Family
ID=62228759
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711261839.0A Pending CN108115726A (en) | 2017-12-04 | 2017-12-04 | Anticollision device, collision-prevention device and the robot with the anticollision device, collision-prevention device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108115726A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203495979U (en) * | 2013-08-24 | 2014-03-26 | 桐乡市易锋机械厂 | Anti-collision mechanism |
| US20150037644A1 (en) * | 2011-06-27 | 2015-02-05 | Hon Hai Precision Industry Co., Ltd. | Battery storage module and mounting seat |
| CN104369198A (en) * | 2014-11-04 | 2015-02-25 | 西安巨浪精密机械有限公司 | Multidirectional collision preventing device of robot |
| CN106225812A (en) * | 2015-06-02 | 2016-12-14 | 美国iRobot公司 | For moving the touch sensor of robot |
| CN106774349A (en) * | 2017-03-14 | 2017-05-31 | 广州市井源机电设备有限公司 | A kind of safety detection device of AGV |
-
2017
- 2017-12-04 CN CN201711261839.0A patent/CN108115726A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150037644A1 (en) * | 2011-06-27 | 2015-02-05 | Hon Hai Precision Industry Co., Ltd. | Battery storage module and mounting seat |
| CN203495979U (en) * | 2013-08-24 | 2014-03-26 | 桐乡市易锋机械厂 | Anti-collision mechanism |
| CN104369198A (en) * | 2014-11-04 | 2015-02-25 | 西安巨浪精密机械有限公司 | Multidirectional collision preventing device of robot |
| CN106225812A (en) * | 2015-06-02 | 2016-12-14 | 美国iRobot公司 | For moving the touch sensor of robot |
| CN106774349A (en) * | 2017-03-14 | 2017-05-31 | 广州市井源机电设备有限公司 | A kind of safety detection device of AGV |
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Application publication date: 20180605 |