CN113715039A - Anticollision indoor mobile robot - Google Patents
Anticollision indoor mobile robot Download PDFInfo
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- CN113715039A CN113715039A CN202111072529.0A CN202111072529A CN113715039A CN 113715039 A CN113715039 A CN 113715039A CN 202111072529 A CN202111072529 A CN 202111072529A CN 113715039 A CN113715039 A CN 113715039A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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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- 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
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
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Abstract
The invention discloses an anti-collision indoor mobile robot which comprises a top shell, wherein a shooting clamping mechanism is arranged at the top of the top shell and used for erecting an RGBD depth camera, a binocular camera and the like for observing an indoor environment; a cavity with an opening at the bottom is arranged in the top shell, a base is arranged at the bottom of the top shell, the top shell is rotatably connected with the base, a top anti-collision mechanism is arranged in the cavity and at the bottom of the cavity and used for keeping the stability of the base when the top shell is collided, and the top anti-collision mechanism is arranged at the middle position and the top position of the anti-collision device, so that the top anti-collision mechanism is used for keeping the stability of the base when the middle top position of the anti-collision device is collided; the bottom of the top shell is provided with a middle anti-collision mechanism, and the middle anti-collision mechanism is positioned at the position of the middle part of the shell, which is close to the bottom.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an anti-collision indoor mobile robot.
Background
An indoor mobile robot is a mechanical device for performing mobile operation indoors, and is generally equipped with equipment such as a camera for indoor environment detection, detection data is transmitted to a special processing terminal, and modeling of an indoor environment is performed in corresponding three-dimensional software through calculation and optimization. In addition, the existing indoor mobile robot anti-collision means is single, and effective measures cannot be taken for collision in different conditions and different positions.
Disclosure of Invention
The invention aims to provide an anti-collision indoor mobile robot and improve the stability of equipment.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows.
An anti-collision indoor mobile robot comprises a top shell, wherein a shooting clamping mechanism is arranged at the top of the top shell and used for erecting an RGBD depth camera, a binocular camera and the like for observing an indoor environment;
a cavity with an opening at the bottom is arranged in the top shell, a base is arranged at the bottom of the top shell, the top shell is rotatably connected with the base, a top anti-collision mechanism is arranged in the cavity and at the bottom of the cavity and used for keeping the stability of the base when the top shell is collided, and the top anti-collision mechanism is arranged at the middle position and the top position of the anti-collision device, so that the top anti-collision mechanism is used for keeping the stability of the base when the middle top position of the anti-collision device is collided;
the middle anti-collision mechanism is arranged at the bottom of the top shell and is positioned at the position, close to the bottom, of the middle of the shell, and the middle anti-collision mechanism is used for keeping the stability of the base when the position, close to the bottom, of the middle of the shell is collided;
the bottom of the base is provided with a bottom anti-collision mechanism, and the bottom anti-collision mechanism is used for keeping the stability of the base when the bottom of the base is collided.
The top anti-collision mechanism comprises a supporting seat fixedly arranged at the top of the base, a first spherical block is rotationally arranged in the supporting seat, the first spherical block is fixedly arranged on a connecting rod, the top of the connecting rod is fixedly arranged on the top shell, a second spherical block is fixedly arranged at the bottom of the connecting rod, four first springs are connected between the connecting rod and the supporting seat, two guide blocks are symmetrically and fixedly arranged on the top of the base by taking the supporting seat as the center, guide grooves with openings at the tops are arranged in the guide blocks, a second spring is fixedly arranged on the inner wall of the bottom of the guide groove, a slide block which is connected with the guide groove in a sliding way is fixedly arranged at the top of the second spring, the top of the sliding block is fixedly provided with a middle rod, the tops of the two middle rods are fixedly arranged on a pressing plate, a middle groove penetrates through the pressing plate, and the connecting rod penetrates through the middle groove.
The middle anti-collision mechanism comprises eight turning plates hinged to the bottom of the top shell, and a circle of sponge ring is fixedly arranged on the base.
A movable space penetrates through the base, a bottom block is fixedly arranged on the inner wall of the movable space, an oil injection groove with an opening at the bottom is arranged in the bottom block, a third spring is fixedly arranged on the inner wall of the top of the oil injection groove, a connecting block which is in sliding connection with the oil injection groove is fixedly arranged at the bottom of the third spring, a friction plate is fixedly arranged at the bottom of the connecting block, an oil storage block which is fixedly connected with the inner wall of the movable space is arranged at one side of the bottom block, an electromagnet is fixedly arranged at one side of the oil storage block, an oil cavity is arranged in the oil storage block, an iron plate is slidably arranged in the oil cavity, the iron plate is connected with the inner wall of the oil cavity through a fourth spring, the oil cavity is communicated with the oil injection groove through a first oil pipe, a power box which is fixedly connected with the inner wall of the movable space is arranged at the other side of the bottom block, and a fifth spring is fixedly arranged at the top of the bottom block, the top of the fifth spring is fixedly provided with a circular block, the circular block is abutted by the second spherical block, a conductive strip is embedded in the circular block, the circular block is arranged between the two conductive plates in a sliding mode, and an electric wire is connected between the two conductive plates, the electromagnet and the power supply box.
The bottom anti-collision mechanism comprises an anti-collision ring sleeved on the base, eight sixth springs are connected between the anti-collision ring and the base, a moving ring is arranged at the top of the anti-collision ring, two sliding blocks are symmetrically and fixedly arranged on two sides of the top of the moving ring, each sliding block is arranged in a sliding groove in a sliding mode, the sliding grooves are arranged in supporting blocks, the supporting blocks are fixedly connected with the base, each sliding groove is communicated with an oil groove through a second oil pipe, the oil groove is arranged in the fixing blocks, the fixing blocks are fixedly connected with the base, seventh springs are fixedly arranged on the inner wall of the top of the oil groove, strip blocks slidably connected with the oil groove are fixedly arranged at the other ends of the seventh springs, and the strip blocks correspond to the current-conducting plates.
The bottom of the base is provided with a moving system, and the moving system is used for controlling the invention to move.
Shoot fixture include with top casing top fixed connection's protection box, protection box normal running fit has rotatory lid, the rotatory groove of having seted up of covering, the rotatory fixed handle that is equipped with that covers, the handle with in the protection box formation space the fixed grip slipper that is equipped with in top casing top, it is connected with the threaded rod to rotate on the grip slipper, threaded connection has two grip blocks on the threaded rod, the grip block with grip slipper sliding connection, the threaded rod both ends are all fixed and are equipped with the knob.
Two sections of opposite threads are arranged on the threaded rod and are respectively in threaded connection with the two clamping blocks, and when the threaded rod rotates, the two clamping blocks can be close to each other or far away from each other.
Due to the adoption of the technical scheme, the technical progress of the invention is as follows.
The invention can be used for bearing various shooting devices, moves indoors, is used for collecting data of indoor environment, and aims at the collision condition possibly suffered in the moving process, the invention has anti-collision processing means for different positions, the invention divides the collision into a top part, a middle part and a bottom part, the top part adopts a rotary structure of a spherical hinge, not only can offset a part of force, but also can convert a part of impact force into the friction force of the invention on the ground, the stability of the invention is enhanced in two aspects, the invention is prevented from moving, the middle part adopts a turnover structure, and is matched with a sponge ring with a buffering function, the moving trend of the invention after being collided can be greatly reduced, the bottom part adopts an annular anti-collision ring to bear the external collision, the invention is prevented from directly hitting a base, in addition, the contact area of the invention and the ground can be increased after the anti-collision ring moves, the stability is enhanced, and in conclusion, the invention has corresponding measures aiming at external collisions at different positions, thereby greatly reducing the possibility of accidental movement in the shooting process and ensuring the continuity and stability of shooting.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is an enlarged schematic view of the embodiment of the present invention at A in FIG. 1;
FIG. 3 is a schematic view of the embodiment of the present invention in the direction B-B in FIG. 1;
FIG. 4 is a schematic view of the embodiment of the present invention in the direction of C-C in FIG. 1;
FIG. 5 is a schematic diagram of a moving ring according to an embodiment of the present invention;
FIG. 6 is a schematic external view of an embodiment of the present invention;
FIG. 7 is a schematic view of the embodiment of the present invention in the direction D-D in FIG. 1;
FIG. 8 is a schematic view of the embodiment of the present invention in the direction E-E of FIG. 1.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
An anti-collision indoor mobile robot, as shown in fig. 1 to 8, comprises a top shell 10, wherein a shooting clamping mechanism 80 is arranged at the top of the top shell 10, and the shooting clamping mechanism 80 is used for erecting an RGBD depth camera, a binocular camera and the like for observing an indoor environment.
A cavity 11 with an opening at the bottom is arranged in the top shell 10, a base 39 is arranged at the bottom of the top shell 10, the top shell 10 is rotatably connected with the base 39, a top anti-collision mechanism 81 is arranged in the cavity 11 and at the bottom of the cavity 11, the top anti-collision mechanism 81 is used for keeping the base 39 stable when the top shell 10 is collided, and the top anti-collision mechanism 81 is used for keeping the base 39 stable when the top shell 10 is collided at the middle top position of the invention because the top shell 10 is located at the middle and top positions of the invention.
The top shell 10 is provided with a middle anti-collision mechanism 82 at the bottom, the middle anti-collision mechanism 82 is located at the middle bottom position of the present invention, and the middle anti-collision mechanism 82 is used for keeping the base 39 stable when the middle bottom position of the present invention is collided.
The bottom of the base 39 is provided with a bottom anti-collision mechanism 83, and the bottom anti-collision mechanism 83 is used for keeping the base 39 stable when the bottom of the invention is collided.
The top anti-collision mechanism 81 comprises a support seat 29 fixedly arranged at the top of the base 39, a first spherical block 28 is rotatably arranged in the support seat 29, the first spherical block 28 is fixedly arranged on a connecting rod 19, the top of the connecting rod 19 is fixedly arranged on the top shell 10, a second spherical block 30 is fixedly arranged at the bottom of the connecting rod 19, four first springs 22 are connected between the connecting rod 19 and the support seat 29, the support seat 29 is used as a center, two guide blocks 23 are symmetrically and fixedly arranged at the top of the base 39, a guide groove 25 with an open top is arranged in the guide block 23, a second spring 26 is fixedly arranged on the inner wall of the bottom of the guide groove 25, a sliding block 24 in sliding connection with the guide groove 25 is fixedly arranged at the top of the second spring 26, an intermediate rod 27 is fixedly arranged at the top of the sliding block 24, and the tops of the two intermediate rods 27 are both fixedly arranged on a pressing plate 66, an intermediate groove 20 is formed in the pressing plate 66 in a penetrating manner, and the connecting rod 19 penetrates through the intermediate groove 20.
The middle anti-collision mechanism 82 comprises eight turning plates 21 hinged to the bottom of the top shell 10, and a circle of sponge rings 31 are fixedly arranged on the base 39.
The flap 21 can only be pivoted toward the support 29.
A movable space 67 penetrates through the base 39, a bottom block 52 is fixedly arranged on the inner wall of the movable space 67, an oil filling groove 53 with an opening at the bottom is arranged in the bottom block 52, a third spring 54 is fixedly arranged on the inner wall of the top of the oil filling groove 53, a connecting block 55 which is in sliding connection with the oil filling groove 53 is fixedly arranged at the bottom of the third spring 54, a friction plate 37 is fixedly arranged at the bottom of the connecting block 55, an oil storage block 57 which is fixedly connected with the inner wall of the movable space 67 is arranged on one side of the bottom block 52, an electromagnet 61 is fixedly arranged on one side of the oil storage block 57, an oil cavity 60 is arranged in the oil storage block 57, an iron plate 59 is slidably arranged in the oil cavity 60, the iron plate 59 is connected with the inner wall of the oil cavity 60 through a fourth spring 58, the oil cavity 60 is communicated with the oil filling groove 53 through a first oil pipe 56, and a power supply box 34 which is fixedly connected with the inner wall of the movable space 67 is arranged on the other side of the bottom block 52, a fifth spring 51 is fixedly arranged on the top of the bottom block 52, a round block 49 is fixedly arranged on the top of the fifth spring 51, the round block 49 is abutted by the second spherical block 30, a conductive strip 50 is embedded in the round block 49, the round block 49 is slidably arranged between the two conductive plates 32, and an electric wire 33 is connected between the two conductive plates 32, the electromagnet 61 and the power supply box 34.
The bottom anti-collision mechanism 83 comprises an anti-collision ring 35 which is sleeved on the base 39, eight sixth springs 36 are connected between the anti-collision ring 35 and the base 39, the top of the anti-collision ring 35 is provided with a moving ring 40, two sliding blocks 41 are symmetrically and fixedly arranged on two sides of the top of the moving ring 40, each sliding block 41 is arranged in a sliding groove 42 in a sliding manner, the sliding grooves 42 are arranged in a supporting block 43, the supporting block 43 is fixedly connected with the base 39, each sliding groove 42 is communicated with an oil groove 47 through a second oil pipe 44, the oil groove 47 is arranged in the fixed block 45, the fixed block 45 is fixedly connected with the base 39, the fixed seventh spring 46 that is equipped with of oil groove 47 top inner wall, seventh spring 46 other end be fixed be equipped with oil groove 47 sliding connection's strip piece 48, strip piece 48 with correspond current-conducting plate 32 fixed connection.
The bottom of the base 39 is provided with a moving system 38, and the moving system 38 is used for controlling the movement of the invention.
Two sections of opposite threads are arranged on the threaded rod 16 and are respectively in threaded connection with the two clamping blocks 17, and when the threaded rod 16 rotates, the two clamping blocks 17 can approach to each other or move away from each other.
The oil chamber 60, the oil filling groove 53, the slide groove 42 and the oil groove 47 are filled with hydraulic oil.
The friction plate 37 has a large coefficient of friction on the bottom surface.
The method of use of the invention is as follows.
In the initial state, the fifth spring 51 is in a compressed state;
the handle 13 is pushed away manually, the rotating cover 14 is opened, the RGBD depth video camera or the binocular camera used for indoor environment shooting is placed between the two clamping blocks 17 manually, the knob 18 is rotated manually to drive the threaded rod 16 to rotate, and the two clamping blocks 17 are driven to be close to each other to clamp the corresponding RGBD depth video camera or the binocular camera through threaded connection of the threaded rod 16 and the clamping blocks 17.
The handle 13 is manually pushed, the rotary cover 14 is closed, and the camera of the corresponding RGBD depth camera or binocular camera is exposed from the photographing groove 62.
And starting the mobile system 38, wherein in the indoor movement and in the movement process, the corresponding RGBD depth video camera or the binocular camera also works to shoot the indoor environment, and the environment parameters are transmitted to the data terminal for calculation and optimization and three-dimensional modeling.
In the shooting process, if the top of the present invention, i.e. the position of the protection box 12 or the position of the top housing 10, is collided, the top housing 10 rotates to drive the connecting rod 19 to rotate, the connecting rod 19 rotates a certain angle to push the pressing plate 66 to descend, so that the pressing plate 66 pushes the middle rod 27 to descend, the middle rod 27 descends to drive the sliding block 24 to descend, the sliding block 24 compresses the second spring 26 to accumulate the force of the second spring 26, the second spring 26 exerts a reaction force on the base 39 to increase the pressure of the base 39 relative to the ground, the position of the base 39 is not easy to move, on the other hand, the connecting rod 19 rotates to drive the second spherical block 30 to rotate, the first spring 22 deforms, after the second spherical block 30 rotates, the circular block 49 is no longer supported by the second spherical block 30, the fifth spring 51 resets, the circular block 49 ascends, the conductive bar 50 simultaneously contacts the two conductive plates 32, the conductive strip 50, the two conductive plates 32, the electromagnet 61 and the power supply box 34 form a closed loop, the electromagnet 61 is electrified to generate magnetic force, the iron plate 59 is attracted, the fourth spring 58 is stretched, the iron plate 59 moves, hydraulic oil in the oil cavity 60 is squeezed into the oil injection groove 53 through the first oil pipe 56, the connecting block 55 is pushed to move towards the ground, the connecting block 55 drives the friction plate 37 to cling to the ground, friction between the electric oil-pressure-bearing oil-gas separator and the ground is increased, on the other hand, the base 39 is enabled to be less prone to move relative to the ground, and stability is better.
In the shooting process, if the middle of the invention, namely any turning plate 21 is collided, the turning plate 21 is inwardly bent after being collided, the bottom of the turning plate 21 contacts and extrudes the sponge ring 31, so that the turning plate 21 is buffered, the sponge ring 31 is deformed, and the turning plate 21 is hinged with the top shell 10, so that the bending of the turning plate 21 has little influence on the top shell 10, the influence on the base 39 is also little, and the displacement generated when the middle of the invention is collided is avoided.
During shooting, if the bottom of the invention, namely the anti-collision ring 35 is collided, the anti-collision ring 35 moves, so that the sixth spring 36 is compressed, the moving ring 40 is pushed by the anti-collision ring 35 to rise under the shape matching of the moving ring 40 and the anti-collision ring 35, the moving ring 40 drives the sliding block 41 to move, hydraulic oil in the chute 42 is discharged into the oil groove 47 through the second oil pipe 44, so that the strip block 48 is pushed to move, the seventh spring 46 is stretched, the strip block 48 drives the conductive plates 32 after moving, so that the two conductive plates 32 are contacted with the conductive strips 50, the communication circuit is formed by the conductive strips 50, the two conductive plates 32, the electromagnet 61 and the power supply box 34, the electromagnet 61 is electrified to generate magnetic force, the iron plate 59 is attracted, the fourth spring 58 is stretched, the iron plate 59 moves, hydraulic oil in the oil cavity 60 is squeezed into the oil injection groove 53 through the first oil pipe 56, so that the connecting block 55 is pushed to move to the ground, the connecting block 55 drives the friction plate 37 to cling to the ground, so that the friction force between the indoor camera and the ground is increased, the possibility of movement when the indoor camera is collided by external force is reduced, and the continuity and stability of subsequent indoor shooting are ensured.
Claims (8)
1. An anti-collision indoor mobile robot, comprising a top shell, characterized in that: the top of the top shell is provided with a shooting clamping mechanism, and the shooting clamping mechanism is used for erecting an RGBD depth camera, a binocular camera and the like for observing an indoor environment;
a cavity with an opening at the bottom is arranged in the top shell, a base is arranged at the bottom of the top shell, the top shell is rotatably connected with the base, top anti-collision mechanisms are arranged in the cavity and at the bottom of the cavity, and the top shell is positioned in the middle and at the top of the robot; the bottom of the top shell is provided with a middle anti-collision mechanism, and the middle anti-collision mechanism is positioned at the position of the middle part of the robot, which is close to the bottom; the bottom of the base is provided with a bottom anti-collision mechanism, and the bottom anti-collision mechanism is used at the bottom of the robot.
2. The collision-proof indoor mobile robot of claim 1, wherein: the top anti-collision mechanism comprises a supporting seat fixedly arranged at the top of the base, a first spherical block is rotationally arranged in the supporting seat, the first spherical block is fixedly arranged on a connecting rod, the top of the connecting rod is fixedly arranged on the top shell, a second spherical block is fixedly arranged at the bottom of the connecting rod, four first springs are connected between the connecting rod and the supporting seat, two guide blocks are symmetrically and fixedly arranged on the top of the base by taking the supporting seat as the center, guide grooves with openings at the tops are arranged in the guide blocks, a second spring is fixedly arranged on the inner wall of the bottom of the guide groove, a slide block which is connected with the guide groove in a sliding way is fixedly arranged at the top of the second spring, the top of the sliding block is fixedly provided with a middle rod, the tops of the two middle rods are fixedly arranged on a pressing plate, a middle groove penetrates through the pressing plate, and the connecting rod penetrates through the middle groove.
3. The collision-proof indoor mobile robot of claim 1, wherein: the middle anti-collision mechanism comprises eight turning plates hinged to the bottom of the top shell, and a circle of sponge ring is fixedly arranged on the base.
4. The collision-proof indoor mobile robot of claim 2, wherein: a movable space penetrates through the base, a bottom block is fixedly arranged on the inner wall of the movable space, an oil injection groove with an opening at the bottom is arranged in the bottom block, a third spring is fixedly arranged on the inner wall of the top of the oil injection groove, a connecting block which is in sliding connection with the oil injection groove is fixedly arranged at the bottom of the third spring, a friction plate is fixedly arranged at the bottom of the connecting block, an oil storage block which is fixedly connected with the inner wall of the movable space is arranged at one side of the bottom block, an electromagnet is fixedly arranged at one side of the oil storage block, an oil cavity is arranged in the oil storage block, an iron plate is slidably arranged in the oil cavity, the iron plate is connected with the inner wall of the oil cavity through a fourth spring, the oil cavity is communicated with the oil injection groove through a first oil pipe, a power box which is fixedly connected with the inner wall of the movable space is arranged at the other side of the bottom block, and a fifth spring is fixedly arranged at the top of the bottom block, the top of the fifth spring is fixedly provided with a circular block, the circular block is abutted by the second spherical block, a conductive strip is embedded in the circular block, the circular block is arranged between the two conductive plates in a sliding mode, and an electric wire is connected between the two conductive plates, the electromagnet and the power supply box.
5. The collision-proof indoor mobile robot of claim 4, wherein: the bottom anti-collision mechanism comprises an anti-collision ring sleeved on the base, eight sixth springs are connected between the anti-collision ring and the base, a moving ring is arranged at the top of the anti-collision ring, two sliding blocks are symmetrically and fixedly arranged on two sides of the top of the moving ring, each sliding block is arranged in a sliding groove in a sliding mode, the sliding grooves are arranged in supporting blocks, the supporting blocks are fixedly connected with the base, each sliding groove is communicated with an oil groove through a second oil pipe, the oil groove is arranged in the fixing blocks, the fixing blocks are fixedly connected with the base, seventh springs are fixedly arranged on the inner wall of the top of the oil groove, strip blocks slidably connected with the oil groove are fixedly arranged at the other ends of the seventh springs, and the strip blocks correspond to the current-conducting plates.
6. The collision-proof indoor mobile robot of claim 1, wherein: the bottom of the base is provided with a moving system, and the moving system is used for controlling the invention to move.
7. The collision-proof indoor mobile robot of claim 1, wherein: shoot fixture include with top casing top fixed connection's protection box, protection box normal running fit has rotatory lid, the rotatory groove of having seted up of covering, the rotatory fixed handle that is equipped with that covers, the handle with in the protection box formation space the fixed grip slipper that is equipped with in top casing top, it is connected with the threaded rod to rotate on the grip slipper, threaded connection has two grip blocks on the threaded rod, the grip block with grip slipper sliding connection, the threaded rod both ends are all fixed and are equipped with the knob.
8. The collision-proof indoor mobile robot of claim 7, wherein: two sections of opposite threads are arranged on the threaded rod and are respectively in threaded connection with the two clamping blocks, and when the threaded rod rotates, the two clamping blocks can be close to each other or far away from each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111072529.0A CN113715039B (en) | 2021-09-14 | 2021-09-14 | Anticollision indoor mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111072529.0A CN113715039B (en) | 2021-09-14 | 2021-09-14 | Anticollision indoor mobile robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113715039A true CN113715039A (en) | 2021-11-30 |
| CN113715039B CN113715039B (en) | 2022-10-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111072529.0A Active CN113715039B (en) | 2021-09-14 | 2021-09-14 | Anticollision indoor mobile robot |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5445235A (en) * | 1992-05-26 | 1995-08-29 | Honda Giken Kogyo Kabushiki Kaisha | Legged mobile robot equipped with impact absorber |
| CN109015674A (en) * | 2018-08-09 | 2018-12-18 | 安徽星宇生产力促进中心有限公司 | A kind of children's early education robot |
| CN208557598U (en) * | 2018-06-26 | 2019-03-01 | 山西宜墅智能信息技术有限公司 | A kind of intelligent robot protective device |
| CN109454621A (en) * | 2018-12-19 | 2019-03-12 | 东莞理工学院 | A kind of banking machine people with anti-collision |
| CN109664276A (en) * | 2019-01-24 | 2019-04-23 | 刘群翠 | A kind of robot anticollision pedestal |
| CN111977288A (en) * | 2020-08-20 | 2020-11-24 | 宁德师范学院 | Transfer robot with anticollision function |
| CN212352000U (en) * | 2020-04-20 | 2021-01-15 | 大沃(常州)智能装备科技有限公司 | Prevent falling intelligent education robot |
| CN112605980A (en) * | 2020-12-17 | 2021-04-06 | 安徽商贸职业技术学院 | A crashproof base for robot |
-
2021
- 2021-09-14 CN CN202111072529.0A patent/CN113715039B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5445235A (en) * | 1992-05-26 | 1995-08-29 | Honda Giken Kogyo Kabushiki Kaisha | Legged mobile robot equipped with impact absorber |
| CN208557598U (en) * | 2018-06-26 | 2019-03-01 | 山西宜墅智能信息技术有限公司 | A kind of intelligent robot protective device |
| CN109015674A (en) * | 2018-08-09 | 2018-12-18 | 安徽星宇生产力促进中心有限公司 | A kind of children's early education robot |
| CN109454621A (en) * | 2018-12-19 | 2019-03-12 | 东莞理工学院 | A kind of banking machine people with anti-collision |
| CN109664276A (en) * | 2019-01-24 | 2019-04-23 | 刘群翠 | A kind of robot anticollision pedestal |
| CN212352000U (en) * | 2020-04-20 | 2021-01-15 | 大沃(常州)智能装备科技有限公司 | Prevent falling intelligent education robot |
| CN111977288A (en) * | 2020-08-20 | 2020-11-24 | 宁德师范学院 | Transfer robot with anticollision function |
| CN112605980A (en) * | 2020-12-17 | 2021-04-06 | 安徽商贸职业技术学院 | A crashproof base for robot |
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| Publication number | Publication date |
|---|---|
| CN113715039B (en) | 2022-10-18 |
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