WO2024131106A1 - 机器人 - Google Patents

机器人 Download PDF

Info

Publication number
WO2024131106A1
WO2024131106A1 PCT/CN2023/113972 CN2023113972W WO2024131106A1 WO 2024131106 A1 WO2024131106 A1 WO 2024131106A1 CN 2023113972 W CN2023113972 W CN 2023113972W WO 2024131106 A1 WO2024131106 A1 WO 2024131106A1
Authority
WO
WIPO (PCT)
Prior art keywords
limiting groove
locking
robot
assembly
connecting pin
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/113972
Other languages
English (en)
French (fr)
Inventor
吕卿
陈佳吉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Pudu Technology Co Ltd
Original Assignee
Shenzhen Pudu Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Pudu Technology Co Ltd filed Critical Shenzhen Pudu Technology Co Ltd
Priority to US18/873,521 priority Critical patent/US20250319586A1/en
Priority to EP23905285.5A priority patent/EP4527573A4/en
Priority to KR1020247042311A priority patent/KR102945437B1/ko
Priority to JP2024575558A priority patent/JP2025519923A/ja
Publication of WO2024131106A1 publication Critical patent/WO2024131106A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • 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
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J1/00—Manipulators positioned in space by hand
    • B25J1/02—Manipulators positioned in space by hand articulated or flexible
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4075—Handles; levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/32—Handles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Definitions

  • the present application relates to the technical field of intelligent cleaning equipment, and in particular to a robot.
  • Robots can improve environmental hygiene and help people save time and energy.
  • Traditional robots are controlled by humans, and usually have handrails on the top of the robot to assist users in moving the robot to complete various tasks.
  • the handrails of traditional robots are usually fixed to the body, and the existing handrail structure usually takes up a large space.
  • a robot is provided.
  • a robot comprising:
  • An armrest wherein an assembly part is provided at one end of the armrest, and the assembly part is provided with a first limiting groove and a connecting pin penetrating the first limiting groove and movable along the axial direction of the first limiting groove;
  • the locking mechanism comprises a locking member and a locking pin fixedly connected to the body, the locking member is hingedly arranged with the assembly member so that the armrest can be flipped relative to the body, and the locking member is provided with a second limiting groove for accommodating the locking pin; when the armrest is flipped relative to the body to a preset angle, the locking pin can move axially along the second limiting groove and move into the first limiting groove and the second limiting groove to lock the armrest in the first state;
  • An unlocking mechanism wherein the unlocking mechanism is located at one end of the connecting pin, and the locking pin is located at the other end of the connecting pin; the unlocking mechanism is used to drive the connecting pin to move axially along the first limiting groove to drive the locking pin to disengage from the first limiting groove, thereby allowing the armrest to be converted from the first state to the second state.
  • FIG1 is a schematic diagram of the structure of a robot shown in an embodiment of the present application.
  • FIG2 is a schematic diagram of a partial structure of a robot shown in an embodiment of the present application.
  • FIG3 is a schematic diagram of the structure decomposition of a robot shown in an embodiment of the present application.
  • FIG4 is a schematic diagram of a partial structural decomposition of a robot shown in an embodiment of the present application.
  • FIG5 is a schematic diagram of the structure of a robot in a second state according to an embodiment of the present application.
  • FIG6 is an enlarged view of point A in FIG5 ;
  • FIG7 is a schematic structural diagram of a robot in a first state according to an embodiment of the present application.
  • FIG8 is an enlarged view of point B in FIG7;
  • FIG9 is a schematic structural diagram of a locking member according to an embodiment of the present application.
  • FIG10 is a schematic structural diagram of an assembly shown in an embodiment of the present application.
  • FIG. 11 is a schematic diagram of a connection structure of a locking latch and a locking and resetting elastic member shown in an embodiment of the present application.
  • robot 100. body; 200. armrest; 210. assembly part; 211. first limit groove; 2111, first conical surface; 212, sliding hole; 300, connecting pin; 310, sliding part; 320, abutting part; 330, connecting part; 400, locking mechanism; 410, locking member; 411, second limiting groove; 420, locking pin; 421, second conical surface; 430, locking drive assembly; 431, locking reset elastic member; 432, locking end cover; 500, unlocking mechanism; 600, damping suspension assembly; 610, damper; 620, damping mounting plate; 700, unlocking elastic member; 800, display screen.
  • an embodiment of the present application provides a robot 10, comprising a body 100, an armrest 200, a locking mechanism 400 and an unlocking mechanism 500.
  • the armrest 200 is hingedly disposed on the body 100, and the armrest 200 is rotatable relative to the body 100.
  • the locking mechanism 400 is used to lock the armrest 200 at a preset angle relative to the body 100.
  • the unlocking mechanism 500 is used to unlock the locked armrest 200.
  • an assembly part 210 is provided at one end of the handrail 200, and the assembly part 210 is provided with a first limiting groove 211 and a connecting pin 300 which is penetrated through the first limiting groove 211 and can be movably provided along the axial direction of the first limiting groove 211.
  • the handrail 200 and the assembly part 210 can be an integrally formed structure.
  • the assembly part 210 can also be fixedly connected to one end of the handrail 200.
  • the locking mechanism 400 includes a locking member 410 and a locking pin 420 fixedly connected to the body 100.
  • the locking member 410 is hingedly connected to the assembly member 210 so that the armrest 200 can be flipped relative to the body 100, and the locking member 410 is provided with a second limiting groove 411 for accommodating the locking pin 420.
  • the central axis of the first limiting groove 211 on the assembly member 210 is aligned with the central axis of the second limiting groove 211.
  • the central axes of the limiting grooves 411 coincide with each other, and the notch of the first limiting groove 211 is arranged opposite to the notch of the second limiting groove 411 .
  • the assembly part 210 is hingedly connected to the locking member 410 by being hingedly connected to the locking pin 420 .
  • the locking member 410 is hingedly arranged with the assembly member 210 through a hinge assembly.
  • the hinge assembly includes an annular clamping block arranged on the assembly member 210 and an annular clamping groove arranged on the locking member 410 and matched with the annular clamping block.
  • the central axis of the annular clamping block and the central axis of the annular clamping groove coincide with each other. More specifically, the central axis of the annular clamping block coincides with the central axis of the first limiting groove 211.
  • the central axis of the annular clamping groove coincides with the central axis of the second limiting groove.
  • the locking pin 420 can move axially along the second limiting groove 411 and move into the first limiting groove 211 and the second limiting groove 411 to lock the armrest 200 in the first state.
  • the first state refers to a state in which the armrest 200 does not flip relative to the body 100.
  • the unlocking mechanism 500 is located at one end of the connecting pin 300, and the locking latch 420 is located at the other end of the connecting pin 300.
  • the unlocking mechanism 500 is used to drive the connecting pin 300 to move along the axial direction of the first limiting groove 211, so as to drive the locking latch 420 to disengage from the first limiting groove 211, so that the armrest 200 can be converted from the first state to the second state.
  • the locking latch 420 disengages from the first limiting groove 211
  • the flipping of the armrest 200 is not affected by the locking latch 420, so that the locked armrest 200 can be unlocked, and the armrest 200 can be flipped to any angle relative to the body 100. That is, the first state refers to the state in which the armrest 200 can be flipped arbitrarily relative to the body 100.
  • the connecting pin 300 can be separated from the locking latch 420 , and they can always be arranged in contact with each other, or they can be arranged at intervals. When the locked handrail 200 is unlocked, the connecting pin 300 will contact the locking latch 420 .
  • the connecting pin 300 may be fixedly connected to the locking pin 420 , for example, they may be integrally formed or fixed by welding, threading, etc., which is not limited here.
  • the locking pin 420 can be movably arranged in the first limiting groove 211 and the second limiting groove 411 axially along the second limiting groove 411 to lock the armrest 200, thereby maintaining the stability of the armrest 200; by setting the unlocking mechanism 500 and the connecting pin 300, the unlocking mechanism 500 can drive the connecting pin 300 to move axially along the first limiting groove 211 to drive the locking pin 420 to disengage from the first limiting groove 211, thereby unlocking the locked armrest 200 and enabling the armrest 200 to be flipped to any angle relative to the main body 100.
  • the orthographic projection of the first notch of the first limiting groove 211 toward the second limiting groove 411 on the projection plane is located within the orthographic projection of the second notch of the second limiting groove 411 toward the first limiting groove 211 on the projection plane.
  • the orthographic projection of the first notch of the first limiting groove 211 toward the second limiting groove 411 on the projection plane and the orthographic projection of the second notch of the second limiting groove 411 toward the first limiting groove 211 on the projection plane are partially misaligned.
  • the projection plane is a horizontal plane perpendicular to the axial direction of the first limiting groove 211.
  • the locking pin 420 can move axially along the second limiting groove 411 and move into the first limiting groove 211 and the second limiting groove 411.
  • the orthographic projection of the first notch of the first limiting groove 211 toward the second limiting groove 411 on the projection plane is located within the orthographic projection of the second notch of the second limiting groove 411 toward the first limiting groove 211 on the projection plane.
  • the orthographic projection of the first notch of the first limiting groove 211 toward the second limiting groove 411 on the projection plane may be within the orthographic projection of the first notch of the first limiting groove 211 toward the second limiting groove 411 on the projection plane and the orthographic projection of the second limiting groove 411 toward the first limiting groove 211.
  • the orthographic projection of the second notch on the projection plane coincides.
  • the orthographic projection of the first notch of the first limiting groove 211 toward the second limiting groove 411 on the projection plane is located within the orthographic projection of the second notch of the second limiting groove 411 toward the first limiting groove 211 on the projection plane, and the orthographic projection of the first notch of the first limiting groove 211 toward the second limiting groove 411 on the projection plane may be smaller than and located within the orthographic projection of the second notch of the second limiting groove 411 toward the first limiting groove 211 on the projection plane. All are not limited here.
  • the locking pin 420 may be a uniform cylinder along the axial direction (i.e., a cylinder with the same cross section) or a portion thereof may be a uniform cylinder along the axial direction.
  • the first limiting groove 211 and the second limiting groove 411 may at least partially be a uniform groove body, and the orthographic projection of the uniform portion of the first limiting groove 211 on the projection plane coincides with the orthographic projection of the first notch on the projection plane. Similarly, the orthographic projection of the uniform portion of the second limiting groove 411 on the projection plane coincides with the orthographic projection of the second notch on the projection plane.
  • a portion of the locking pin 420 may move from the second limiting groove 411 to the first limiting groove 211.
  • the locking pin 420 may be a cone along the axial direction, such as optionally, the end of the locking pin 420 close to the first limiting groove 211 is smaller than the end away from the first limiting groove 211.
  • at least part of the first limiting groove 211 and the second limiting groove 411 may be a tapered groove.
  • the orthographic projection of the tapered groove portion of the first limiting groove 211 on the projection plane is smaller than the orthographic projection on the first notch projection plane, and may be gradually reduced in the direction away from the first notch.
  • the orthographic projection of the tapered groove portion of the second limiting groove 411 on the projection plane is larger than the orthographic projection on the first notch projection plane, and optionally, it gradually increases in the direction away from the second notch.
  • the orthographic projection refers to a projection perpendicular to the projection plane, such as the orthographic projection of the first notch of the first limiting groove 211 on the projection plane, i.e., the projection of the first notch of the first limiting groove 211 on the projection plane along the axis of the first limiting groove 211.
  • the orthographic projection of the first notch of the second limiting groove 411 on the projection plane i.e., the projection of the first notch of the second limiting groove 411 on the projection plane along the axis of the second limiting groove 411.
  • the first limiting groove 211 is perpendicular to the cross section of the first limiting groove 211 and the second limiting groove 411 is perpendicular to the cross section of the first limiting groove 211.
  • the axial cross-section of the second limiting groove 411 is a polygonal structure.
  • the cross section of the first limiting groove 211 perpendicular to the axial direction of the first limiting groove 211 and the cross section of the second limiting groove 411 perpendicular to the axial direction of the second limiting groove 411 are both rectangular structures. That is, when the first limiting groove 211 rotates 0° or 180° relative to the second limiting groove 411, the orthographic projection of the first notch of the first limiting groove 211 toward the second limiting groove 411 on the projection plane is located within the orthographic projection of the second notch of the second limiting groove 411 toward the first limiting groove 211 on the projection plane.
  • the orthographic projection of the first notch of the first limiting groove 211 toward the second limiting groove 411 on the projection plane and the orthographic projection of the second notch of the second limiting groove 411 toward the first limiting groove 211 on the projection plane are partially misaligned.
  • the second limiting groove 411 is inclined relative to the length direction or width direction of the locking member 410. That is, a side wall of the second limiting groove 411 has an angle with the length direction or width direction of the locking member 410.
  • the armrest 200 can be locked at a preset angle relative to the body 100.
  • the present application does not limit the inclination angle of the second limiting groove 411 relative to the length direction or width direction of the locking member 410, and it can be set according to the preset angle at which the armrest 200 is locked relative to the body 100.
  • the cross section of the first limiting groove 211 perpendicular to the axial direction of the first limiting groove 211 and the cross section of the second limiting groove 411 perpendicular to the axial direction of the second limiting groove 411 may also be a quadrilateral structure or a pentagonal structure, which is not limited in the present application.
  • the locking mechanism 400 also includes a locking drive assembly 430.
  • the locking drive assembly 430 is used to drive the locking pin 420 to move axially along the second limiting groove 411 to the first limiting groove 211 and the second limiting groove 411.
  • the locking drive assembly 430 includes a locking reset elastic member 431 and a locking end cover 432.
  • the locking end cover 432 is disposed at one end of the locking member 410 away from the assembly member 210, and the locking reset elastic member 431 is located between the locking pin 420 and the locking end cover 432.
  • the locking reset elastic member 431 is a spring.
  • the locking and resetting elastic member 431 When the armrest 200 is in the second state, the locking and resetting elastic member 431 is in a compressed state. When the hand 200 is flipped to a preset angle relative to the body 100 , under the elastic force of the locking and resetting elastic member 431 , the locking and resetting elastic member 431 can drive the locking pin 420 to move axially along the second limiting groove 411 into the first limiting groove 211 and the second limiting groove 411 .
  • the first limiting groove 211 and the second limiting groove 411 are both provided with a first conical surface 2111.
  • the outer circumference of the locking pin 420 is adapted with a second conical surface 421, and the second conical surface 421 cooperates with the first conical surface 2111, so that the locking pin 420 can be easily moved into the first limiting groove 211 and the second limiting groove 411.
  • the second conical surface 421 gradually decreases in size from one end close to the locking and resetting elastic member 431 to one end away from the locking and resetting elastic member 431, which can be more conducive to moving into the first limiting groove 211 and the second limiting groove 411 and can play a guiding role.
  • a sliding hole 212 is provided on the assembly part 210, and the sliding hole 212 is opened at the bottom of the first limiting groove 211.
  • the connecting pin 300 includes a sliding portion 310 slidably connected to the sliding hole 212, and the sliding portion 310 is used to connect with the locking latch 420.
  • the unlocking mechanism 500 drives the connecting pin 300 to move along the axial direction of the first limiting groove 211
  • the sliding portion 310 of the connecting pin 300 can connect with the locking latch 420, and then can drive the locking latch 420 to disengage from the first limiting groove 211.
  • the connecting pin 300 further includes an abutment portion 320 disposed at one end close to the locking pin 420, the abutment portion 320 is used to connect with the locking pin 420, and can abut against the bottom of the first limiting groove 211.
  • the diameter of the abutment portion 320 is greater than the diameters of the sliding hole 212 and the sliding portion 310.
  • the abutting portion 320 can abut against the locking pin 420 to drive the locking pin 420 to move in a direction away from the first limiting groove 211.
  • the abutting portion 320 can be prevented from being separated from the first limiting groove 211, thereby limiting the connecting pin 300.
  • one end of the sliding portion 310 away from the locking pin 420 may abut against the bottom of the first limiting groove 211, so that the sliding portion 310 will not be separated from the first limiting groove 211, thereby
  • the connecting pin 300 can play a role of limiting.
  • the sliding portion 310 and the locking pin 420 are an integrally formed structure. Specifically, the diameter of the sliding portion 310 is smaller than the length and width of the locking pin 420.
  • the connecting pin 300 further includes a connecting portion 330 connected to the unlocking mechanism 500.
  • the unlocking mechanism 500 uses an unlocking button, and the unlocking mechanism 500 is fixedly connected to the connecting portion 330 of the connecting pin 300.
  • the robot 10 further includes a damping suspension component 600, which is installed between the assembly part 210 and the connecting pin 300 and is used to apply a damping force to the flipping of the assembly part 210.
  • a damping suspension component 600 By providing the damping suspension component 600, resistance can be applied to the flipping of the assembly part 210, thereby enabling the armrest 200 to hover at a specific angle.
  • the robot 10 further includes an unlocking elastic member 700, and two oppositely disposed ends of the unlocking elastic member 700 are respectively in contact with the sliding portion 310 and the damping suspension assembly 600.
  • the unlocking elastic member 700 is a spring. When the unlocking mechanism 500 is pressed, the unlocking elastic member 700 is in a compressed state. When the unlocking mechanism 500 is released, the unlocking elastic member 700 can provide an elastic force to drive the connecting pin 300 and the unlocking mechanism 500 to reset.
  • the assembly part 210 is matched with the connecting pin 300.
  • the damping suspension assembly 600 includes a damper 610 and a damping mounting plate 620.
  • the damper 610 is sleeved on the connecting pin 300 to apply resistance to the rotation of the connecting pin 300, thereby applying resistance to the flipping of the assembly part 210.
  • the damping mounting plate 620 includes a first mounting portion and a second mounting portion. The first mounting portion is connected to the damper 610, and the first mounting portion is sleeved on the connecting pin 300.
  • the second mounting portion 330 is fixedly connected to the locking member 410.
  • the robot 10 further includes a display screen 800, and the display screen 800 is connected to the armrest 200.
  • the display screen 800 can rotate along with the flipping of the armrest 200.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Steps, Ramps, And Handrails (AREA)
  • Snaps, Bayonet Connections, Set Pins, And Snap Rings (AREA)
  • Seats For Vehicles (AREA)
  • Manipulator (AREA)

Abstract

一种机器人(10)，包括本体(100)、设置有装配件(210)的扶手(200)、锁定机构(400)及解锁机构(500)，装配件(210)上设置有第一限位槽(211)及连接销(300)；锁定机构(400)包括连接于本体(100)上、且与装配件(210)铰接的锁定件(410)及锁定插销(420)，锁定件(410)上设置有第二限位槽(411)；锁定插销(420)能够沿第二限位槽(411)轴向移动,并移动至第一限位槽(211)及第二限位槽(411)内；解锁机构(500)用于带动连接销(300)沿第一限位槽(211)的轴向移动，以带动锁定插销(420)脱离第一限位槽(211)。

Description

机器人
本申请要求于2022年12月20日提交中国专利局、申请号为CN202223453041.5、申请名称为“机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及涉及智能清洁设备技术领域，特别是涉及一种机器人。
背景技术
机器人能够改善环境卫生，帮助人们节省时间以及精力。传统机器人都是由人工来操控的，通常会在机器人外观面顶部设置扶手，以辅助用户移动机器人本体完成各工作任务。但是传统的机器人的扶手通常是固定在机身上，并且现有的扶手的结构通常占用空间较大。
发明内容
根据本申请的各种实施例，提供一种机器人。
一种机器人，包括：
本体；
扶手，所述扶手的一端设置有装配件，所述装配件上设置有第一限位槽及穿设于所述第一限位槽、且能够沿所述第一限位槽的轴向可移动设置的连接销；
锁定机构，所述锁定机构包括固定连接于所述本体上的锁定件及锁定插销，所述锁定件与所述装配件铰接设置以使扶手能够相对于所述本体翻转，且所述锁定件上设置有容纳所述锁定插销的第二限位槽；当所述扶手相对所述本体翻转至预设角度时，所述锁定插销能够沿第二限位槽轴向移动,并移动 至所述第一限位槽及所述第二限位槽内，以将所述扶手锁定于第一状态；
解锁机构，所述解锁机构位于所述连接销的一端，所述锁定插销位于所述连接销的另一端；所述解锁机构用于带动所述连接销沿所述第一限位槽的轴向移动，以带动所述锁定插销脱离所述第一限位槽，从而使所述扶手可从第一状态转换至第二状态。
本申请的一个或多个实施例的细节在下面的附图和描述中提出。本申请的其它特征和优点将从说明书、附图以及权利要求书变得明显。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他实施例的附图。
图1为本申请一实施例所示的机器人的结构示意图；
图2为本申请一实施例所示的机器人的部分结构示意图；
图3为本申请一实施例所示的机器人的结构分解示意图；
图4为本申请一实施例所示的机器人的部分结构分解示意图；
图5为本申请一实施例所示的机器人在第二状态下的结构示意图；
图6为图5中A处放大图；
图7为本申请一实施例所示的机器人在第一状态下的结构示意图；
图8为图7中B处放大图；
图9为本申请一实施例所示的锁定件的结构示意图；
图10为本申请一实施例所示的装配件的结构示意图；
图11为本申请一实施例所示的锁定插销及锁定复位弹性件的连接结构示意图。
附图标记说明
10、机器人；100、本体；200、扶手；210、装配件；211、第一限位槽；
2111、第一锥形面；212、滑动孔；300、连接销；310、滑动部；320、抵接部；330、连接部；400、锁定机构；410、锁定件；411、第二限位槽；420、锁定插销；421、第二锥形面；430、锁定驱动组件；431、锁定复位弹性件；432、锁定端盖；500、解锁机构；600、阻尼悬停组件；610、阻尼器；620、阻尼安装板；700、解锁弹性件；800、显示屏。
具体实施方式
为了便于理解本申请，下面将参照相关附图对本申请进行更全面的描述。附图中给出了本申请的较佳实施例。但是，本申请可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本申请的公开内容的理解更加透彻全面。
除非另有定义，本文所使用的所有的技术和科学术语与属于发明的技术领域的技术人员通常理解的含义相同。本文中在发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在限制本申请。本文所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
参阅图1、图2及图4，本申请一实施例提供了的一种机器人10，包括本体100、扶手200、锁定机构400及解锁机构500，扶手200铰接设置于本体100上，扶手200相对本体100可转动。锁定机构400用于将扶手200相对本体100锁定于预设角度。解锁机构500用于将锁定的扶手200进行解锁。
参阅图1、图2、图3及图4，扶手200的一端设置有装配件210，装配件210上设置有第一限位槽211及穿设于第一限位槽211、且能够沿第一限位槽211的轴向可移动设置的连接销300。可选的，扶手200与装配件210可以为一体成型结构。装配件210也可固定连接于扶手200的一端。
参阅图3、图4、图6及图8，锁定机构400包括固定连接于本体100上的锁定件410及锁定插销420，锁定件410与装配件210铰接设置以使扶手200能够相对于本体100翻转，且锁定件410上设置有容纳锁定插销420的第二限位槽411。具体地，装配件210上的第一限位槽211的中心轴线与第二 限位槽411的中心轴线相互重合，且第一限位槽211的槽口与第二限位槽411的槽口相对设置。
可选的，装配件210通过铰接于锁定插销420上从而与锁定件410铰接设置。
在另一可选实施例，锁定件410通过铰接组件与装配件210铰接设置。铰接组件包括设置于装配件210上的环形卡块及设置于锁定件410上、且与环形卡块相配合的环形卡槽。环形卡块的中心轴线及环形卡槽的中心轴线相互重合。更具体地，环形卡块的中心轴线与第一限位槽211的中心轴线相互重合。环形卡槽的中心轴线与二限位槽的中心轴线相互重合。
参阅图1、图4、图7及图8，当扶手200相对本体100翻转至预设角度时，锁定插销420能够沿第二限位槽411轴向移动,并移动至第一限位槽211及第二限位槽411内，以将扶手200锁定于第一状态。当锁定插销420至第一限位槽211及第二限位槽411内时，可实现将扶手200进行锁定，以使扶手200相对本体100不发生翻转，从而保持扶手200的稳定。即第一状态是指：扶手200相对本体100不发生翻转的状态。
参阅图1、图4、图5及图6，解锁机构500位于连接销300的一端，锁定插销420位于连接销300的另一端。解锁机构500用于带动连接销300沿第一限位槽211的轴向移动，以带动锁定插销420脱离第一限位槽211，从而使扶手200可从第一状态转换至第二状态。当锁定插销420脱离第一限位槽211时，扶手200的翻转不受锁定插销420的影响，从而可实现将锁定的扶手200进行解锁，且可实现扶手200相对本体100翻转至任意角度。即第一状态是指：扶手200相对本体100可任意翻转时的状态。
在可选实施例中，连接销300可以与锁定插销420分离设置，其可以一直保持相互抵接设置，也可以为间隔设置。当对锁定的扶手200进行解锁时，连接销300则会抵接于锁定插销420上。
在另一可选实施例中，连接销300可以与锁定插销420相互固定连接，如其可以一体成型或者通过焊接、螺纹等方式固定，这里不做限定。
通过设置锁定机构400及装配件210，当扶手200相对本体100翻转至预设角度时，锁定插销420能够沿第二限位槽411轴向可移动地设置于第一限位槽211及第二限位槽411内，以将扶手200进行锁定，从而保持扶手200的稳定；通过设置解锁机构500及连接销300，解锁机构500能够带动连接销300沿第一限位槽211轴向移动，以带动锁定插销420脱离第一限位槽211，从而实现将锁定的扶手200进行解锁，且可实现扶手200相对本体100翻转至任意角度。
请参阅图4、图6、图9及图10，根据本申请的一些实施例，可选地，在第一状态下，第一限位槽211朝向第二限位槽411的第一槽口在投影平面上的正投影位于第二限位槽411朝向第一限位槽211的第二槽口在投影平面上的正投影内。在第二状态下，第一限位槽211朝向第二限位槽411的第一槽口在投影平面上的正投影和第二限位槽411朝向第一限位槽211的第二槽口在投影平面上的正投影部分错位。其中，投影平面为垂直于第一限位槽211轴向的水平面。
需要理解的是：当第一限位槽211朝向第二限位槽411的第一槽口在投影平面上的正投影位于第二限位槽411朝向第一限位槽211的第二槽口在投影平面上的正投影内时，锁定插销420能够沿第二限位槽411轴向移动,并移动至第一限位槽211及第二限位槽411内。当第一限位槽211朝向第二限位槽411的第一槽口在投影平面上的正投影和第二限位槽411朝向第一限位槽211的第二槽口在投影平面上的正投影部分错位时，锁定插销420靠近第一限位槽211的一端与第一限位槽211靠近锁定插销420的一端相抵接，以使得第一限位槽211靠近锁定插销420的一端对锁定插销420得移动形成限位，进而使得锁定插销420无法移动至第一限位槽211及第二限位槽411内。
在可选实施例中，在第一状态下，第一限位槽211朝向第二限位槽411的第一槽口在投影平面上的正投影位于第二限位槽411朝向第一限位槽211的第二槽口在投影平面上的正投影内可以是第一限位槽211朝向第二限位槽411的第一槽口在投影平面上的正投影与第二限位槽411朝向第一限位槽211 的第二槽口在投影平面上的正投影重合。
在另一可选实施例中，在第一状态下，第一限位槽211朝向第二限位槽411的第一槽口在投影平面上的正投影位于第二限位槽411朝向第一限位槽211的第二槽口在投影平面上的正投影内可以是第一限位槽211朝向第二限位槽411的第一槽口在投影平面上的正投影小于并位于第二限位槽411朝向第一限位槽211的第二槽口在投影平面上的正投影内。这里均不作限定。
在可选实施例中，锁定插销420可以为沿轴向的均匀柱体(即横截面保持一样的柱体)或者部分为沿轴向的均匀柱体。其第一限位槽211和第二限位槽411至少部分可以是均匀的槽体，且第一限位槽211均匀部分在投影平面上的正投影与第一槽口投影平面上的正投影重合。类似的，第二限位槽411均匀部分在投影平面上的正投影与第二槽口在投影平面上的正投影重合。从而使得当进入第一状态时，锁定插销420的部分可以从第二限位槽411移动至第一限位槽211。
在另一可选实施例中，锁定插销420可以为沿轴向的椎体，如可选的，该锁定插销420靠近第一限位槽211的一端小于远离第一限位槽211的一端。对应地，其第一限位槽211和第二限位槽411至少部分可以是锥形槽。
可选的，第一限位槽211的锥形槽部分在投影平面上的正投影小于第一槽口投影平面上的正投影，且可以是沿着其远离第一槽口的方向逐渐变小。第二限位槽411的锥形槽部分在投影平面上的正投影大于第一槽口投影平面上的正投影，可选的，其是沿着其远离第二槽口的方向逐渐变大。
可选地，正投影是指垂直于投影平面的投影，如第一限位槽211的第一槽口在投影平面上的正投影即第一限位槽211的第一槽口沿着其第一限位槽211的轴线在投影平面上的投影。第二限位槽411的第一槽口在投影平面上的正投影即第二限位槽411的第一槽口沿着其第二限位槽411的轴线在投影平面上的投影。
请参阅图4、图6、图9及图10，根据本申请的一些实施例，可选地，第一限位槽211垂直于第一限位槽211轴向的截面及第二限位槽411垂直于 第二限位槽411轴向的截面均为多边形结构。
在可选实施例中，第一限位槽211垂直于第一限位槽211轴向的截面及第二限位槽411垂直于第二限位槽411轴向的截面均为长方形结构。即第一限位槽211相对第二限位槽411转动0°或180°时，第一限位槽211朝向第二限位槽411的第一槽口在投影平面上的正投影位于第二限位槽411朝向第一限位槽211的第二槽口在投影平面上的正投影内。第一限位槽211相对第二限位槽411转动其他角度时，第一限位槽211朝向第二限位槽411的第一槽口在投影平面上的正投影和第二限位槽411朝向第一限位槽211的第二槽口在投影平面上的正投影部分错位。
第二限位槽411相对锁定件410的长度方向或宽度方向倾斜设置。即第二限位槽411的一侧壁与锁定件410的长度方向或宽度方向具有夹角。可通过设定第二限位槽411相对锁定件410的长度方向或宽度方向的倾斜角，即可实现将扶手200相对本体100锁定于预设角度。需要说明的是：本申请对于第二限位槽411相对锁定件410的长度方向或宽度方向的倾斜角不做限定，可根据扶手200相对本体100锁定的预设角度设定。
在另一可选实施例中，第一限位槽211垂直于第一限位槽211轴向的截面及第二限位槽411垂直于第二限位槽411轴向的截面也可以为四边形结构、五边形结构，本申请对此不做限定。
请参阅图1、图4、图6及图8，根据本申请的一些实施例，可选地，锁定机构400还包括锁定驱动组件430，当扶手200相对本体100翻转至预设角度时，锁定驱动组件430用于带动锁定插销420沿第二限位槽411轴向移动至第一限位槽211及第二限位槽411内。
可选地，锁定驱动组件430包括锁定复位弹性件431及锁定端盖432，锁定端盖432设置于锁定件410远离装配件210设置的一端，锁定复位弹性件431位于锁定插销420与锁定端盖432之间。可选地，锁定复位弹性件431采用弹簧。
当扶手200处于第二状态时，锁定复位弹性件431处于压缩状态。当扶 手200相对本体100翻转至预设角度时，在锁定复位弹性件431的弹性力作用下，锁定复位弹性件431可带动锁定插销420沿第二限位槽411轴向移动至第一限位槽211及第二限位槽411内。
请参阅图4、图9、图10及图11，第一限位槽211及第二限位槽411内均设置有第一锥形面2111。锁定插销420的外圆周适配有第二锥形面421，第二锥形面421与第一锥形面2111相配合，以使锁定插销420便于移动至第一限位槽211及第二限位槽411内。
可选地，第二锥形面421从靠近锁定复位弹性件431的一端至远离锁定复位弹性件431的一端的大小逐渐变小，可更有利于移动至第一限位槽211及第二限位槽411内，能够起到导向的作用。
请参阅图4、图6及图8，根据本申请的一些实施例，可选地，装配件210上设置有滑动孔212，滑动孔212开设于第一限位槽211的底部。连接销300包括滑动连接于滑动孔212的滑动部310，滑动部310用于与锁定插销420相接。具体地，解锁机构500在带动连接销300沿第一限位槽211的轴向移动时，连接销300的滑动部310能够与锁定插销420相接，进而可带动锁定插销420脱离第一限位槽211。
在可选实施例中，连接销300还包括设置在靠近锁定插销420的一端的抵接部320，抵接部320用于与锁定插销420相接，且可与第一限位槽211的底部相抵接。在该实施例中，抵接部320的直径大于滑动孔212及滑动部310的直径。
解锁机构500在带动连接销300沿第一限位槽211的轴向移动时，抵接部320能够与锁定插销420相抵接，以带动锁定插销420沿远离第一限位槽211的方向移动。通过将抵接部320设置于与第一限位槽211的底部相抵接，可使得抵接部320不会脱离第一限位槽211，从而对连接销300能起到限位的作用。
在另一可选实施例中，滑动部310远离锁定插销420的一端可与第一限位槽211的底部相抵接，可使得滑动部310不会脱离第一限位槽211，从而对 连接销300能起到限位的作用。
在又一可选实施例中，滑动部310与锁定插销420为一体成型结构。具体地，滑动部310的直径小于锁定插销420的长度及宽度。
请参阅图4、图6及图8，根据本申请的一些实施例，可选地，连接销300还包括与解锁机构500连接的连接部330。具体地，解锁机构500采用解锁按键，解锁机构500固定连接于连接销300的连接部330上。
请参阅图4、图6及图8，根据本申请的一些实施例，可选地，机器人10还包括阻尼悬停组件600，阻尼悬停组件600安装于装配件210与连接销300之间，用于对装配件210的翻转施加阻尼力。通过设置阻尼悬停组件600，能够对装配件210的翻转施加阻力，进而可实现扶手200在特定角度进行悬停。
机器人10还包括解锁弹性件700，解锁弹性件700相对设置的两端分别抵接于滑动部310及阻尼悬停组件600。具体地，解锁弹性件700采用弹簧。当按压解锁机构500时，解锁弹性件700处于压缩状态。当释放解锁机构500后，解锁弹性件700可提供弹性力，以带动连接销300及解锁机构500复位。
请参阅图4、图6及图8，根据本申请的一些实施例，可选地，装配件210与连接销300随动配合。阻尼悬停组件600包括阻尼器610及阻尼安装板620，阻尼器610套设于连接销300上，以对连接销300的转动施加阻力，从而对装配件210的翻转施加阻力。阻尼安装板620包括第一安装部及第二安装部，第一安装部与阻尼器610相连接，且第一安装部套设于连接销300上。第二安装部330与锁定件410固定连接。
请参阅图1、图2及图3，根据本申请的一些实施例，可选地，机器人10还包括显示屏800，显示屏800连接于扶手200上。在扶手200相对本体100翻转时，显示屏800可跟随扶手200的翻转而转动。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (20)

  1. 一种机器人(10)，包括：
    本体(100)；
    扶手(200)，所述扶手(200)的一端设置有装配件(210)，所述装配件(210)上设置有第一限位槽(211)及穿设于所述第一限位槽(211)、且能够沿所述第一限位槽(211)的轴向可移动设置的连接销(300)；
    锁定机构(400)，所述锁定机构(400)包括固定连接于所述本体(100)上的锁定件(410)及锁定插销(420)，所述锁定件(410)与所述装配件(210)铰接设置以使扶手(200)能够相对于所述本体(100)翻转，且所述锁定件(410)上设置有容纳所述锁定插销(420)的第二限位槽(411)；当所述扶手(200)相对所述本体(100)翻转至预设角度时，所述锁定插销(420)能够沿第二限位槽(411)轴向移动,并移动至所述第一限位槽(211)及所述第二限位槽(411)内，以将所述扶手(200)锁定于第一状态；
    解锁机构(500)，所述解锁机构(500)位于所述连接销(300)的一端，所述锁定插销(420)位于所述连接销(300)的另一端；所述解锁机构(500)用于带动所述连接销(300)沿所述第一限位槽(211)的轴向移动，以带动所述锁定插销(420)脱离所述第一限位槽(211)，从而使所述扶手(200)可从第一状态转换至第二状态。
  2. 根据权利要求1所述的机器人(10)，其特征在于，
    在所述第一状态下，所述第一限位槽(211)朝向所述第二限位槽(411)的第一槽口在投影平面上的正投影位于所述第二限位槽(411)朝向所述第一限位槽(211)的第二槽口在所述投影平面上的正投影内；
    其中，所述投影平面为垂直于所述第一限位槽(211)轴向的水平面。
  3. 根据权利要求1所述的机器人(10)，其特征在于，
    在所述第二状态下，所述第一限位槽(211)朝向所述第二限位槽(411)的第一槽口在投影平面上的正投影和所述第二限位槽(411)朝向所述第一限位槽(211)的第二槽口在所述投影平面上的正投影部分错位；
    其中，所述投影平面为垂直于所述第一限位槽(211)轴向的水平面。
  4. 根据权利要求1所述的机器人(10)，其特征在于，
    所述连接销(300)与所述锁定插销(420)分离设置。
  5. 根据权利要求1所述的机器人(10)，其特征在于，
    所述连接销(300)与所述锁定插销(420)固定连接。
  6. 根据权利要求1所述的机器人(10)，其特征在于，
    所述第一限位槽(211)垂直于所述第一限位槽(211)轴向的截面及所述第二限位槽(411)垂直于所述第二限位槽(411)轴向的截面均为多边形结构。
  7. 根据权利要求1所述的机器人(10)，其特征在于，
    所述锁定机构(400)还包括锁定驱动组件(430)，当所述扶手(200)相对所述本体(100)翻转至预设角度时，所述锁定驱动组件(430)用于带动所述锁定插销(420)沿第二限位槽(411)轴向移动至所述第一限位槽(211)及所述第二限位槽(411)内。
  8. 根据权利要求7所述的机器人(10)，其特征在于，
    所述锁定驱动组件(430)包括锁定复位弹性件(431)及锁定端盖(432)，所述锁定端盖(432)设置于所述锁定件(410)远离所述装配件(210)设置的一端，所述锁定复位弹性件(431)位于所述锁定插销(420)与所述锁定端盖(432)之间。
  9. 根据权利要求8所述的机器人(10)，其特征在于，
    所述第一限位槽(211)及所述第二限位槽(411)内均设置有第一锥形面(2111)；所述锁定插销(420)的外圆周适配有第二锥形面(421)，所述第二锥形面(421)与所述第一锥形面(2111)相配合，以使所述锁定插销(420)便于移动至所述第一限位槽(211)及所述第二限位槽(411)内。
  10. 根据权利要求9所述的机器人(10)，其特征在于，
    所述第二锥形面(421)从靠近所述锁定复位弹性件(431)的一端至远离所述锁定复位弹性件(431)的一端的大小逐渐变小。
  11. 根据权利要求1所述的机器人(10)，其特征在于，
    还包括阻尼悬停组件(600)，所述阻尼悬停组件(600)安装于所述装配件 (210)与所述连接销(300)之间，用于对所述装配件(210)的翻转施加阻尼力。
  12. 根据权利要求11所述的机器人(10)，其特征在于，
    所述装配件(210)上设置有滑动孔(212)，所述滑动孔(212)开设于所述第一限位槽(211)的底部；所述连接销(300)包括滑动连接于所述滑动孔(212)的滑动部(310)，所述滑动部(310)用于与所述锁定插销(420)相接。
  13. 根据权利要求12所述的机器人(10)，其特征在于，
    所述连接销(300)还包括设置在靠近所述锁定插销(420)的一端的抵接部(320)，所述抵接部(320)用于与所述锁定插销(420)相接且可与所述第一限位槽(211)的底部相抵接。
  14. 根据权利要求12所述的机器人(10)，其特征在于，
    所述滑动部(310)远离所述锁定插销(420)的一端可与所述第一限位槽(211)的底部相抵接。
  15. 根据权利要求12所述的机器人(10)，其特征在于，
    所述滑动部(310)与所述锁定插销(420)为一体成型结构。
  16. 根据权利要求12所述的机器人(10)，其特征在于，
    所述连接销(300)还包括与所述解锁机构(500)连接的连接部(330)；所述机器人(10)还包括解锁弹性件(700)，所述解锁弹性件(700)相对设置的两端分别抵接于所述滑动部(310)及所述阻尼悬停组件(600)。
  17. 根据权利要求11所述的机器人(10)，其特征在于，
    所述装配件(210)与所述连接销(300)随动配合；所述阻尼悬停组件(600)包括阻尼器(610)，所述阻尼器(610)套设于所述连接销(300)上，以对所述连接销(300)的转动施加阻力，从而对所述装配件(210)的翻转施加阻力。
  18. 根据权利要求17所述的机器人(10)，其特征在于，
    所述阻尼悬停组件(600)还阻尼安装板(620)，所述阻尼安装板(620)包括第一安装部及第二安装部，所述第一安装部与所述阻尼器(610)相连接，且所述第一安装部套设于所述连接销(300)上；所述第二安装部与所述锁定件(410)固定连接。
  19. 根据权利要求1所述的机器人(10)，其特征在于，
    还包括显示屏(800)，所述显示屏(800)连接于所述扶手(200)上。
  20. 根据权利要求1所述的机器人(10)，其特征在于，
    所述锁定件(410)通过铰接组件与所述装配件(210)铰接设置，所述铰接组件包括设置于所述装配件(210)上的环形卡块及设置于所述锁定件(410)上、且与环形卡块相配合的环形卡槽。
PCT/CN2023/113972 2022-12-20 2023-08-21 机器人 Ceased WO2024131106A1 (zh)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US18/873,521 US20250319586A1 (en) 2022-12-20 2023-08-21 Robot
EP23905285.5A EP4527573A4 (en) 2022-12-20 2023-08-21 ROBOT
KR1020247042311A KR102945437B1 (ko) 2022-12-20 2023-08-21 로봇
JP2024575558A JP2025519923A (ja) 2022-12-20 2023-08-21 ロボット

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202223453041.5 2022-12-20
CN202223453041.5U CN219504810U (zh) 2022-12-20 2022-12-20 机器人

Publications (1)

Publication Number Publication Date
WO2024131106A1 true WO2024131106A1 (zh) 2024-06-27

Family

ID=87524202

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/113972 Ceased WO2024131106A1 (zh) 2022-12-20 2023-08-21 机器人

Country Status (6)

Country Link
US (1) US20250319586A1 (zh)
EP (1) EP4527573A4 (zh)
JP (1) JP2025519923A (zh)
KR (1) KR102945437B1 (zh)
CN (1) CN219504810U (zh)
WO (1) WO2024131106A1 (zh)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN216940700U (zh) * 2021-11-17 2022-07-12 深圳市普渡科技有限公司 机器人
CN219504810U (zh) * 2022-12-20 2023-08-11 深圳市普渡科技有限公司 机器人
CN117398198B (zh) * 2023-12-13 2024-02-13 真健康(广东横琴)医疗科技有限公司 手术机器人快装结构

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105640743A (zh) * 2015-12-17 2016-06-08 吉林大学 多功能步态矫姿与行走减负器
DE202022100209U1 (de) * 2021-12-16 2022-01-21 Suzhou Anri Child Products Co.,Ltd Wagen-Klappgelenkmechanismus und Kinderwagen mit einem derartigen Wagen-Klappgelenkmechanismus
WO2022063228A1 (zh) * 2020-09-27 2022-03-31 张望荣 座椅结构和推车
CN114590117A (zh) * 2022-04-18 2022-06-07 一汽解放汽车有限公司 锁止装置、框架机构及车辆
CN216932958U (zh) * 2021-11-17 2022-07-12 深圳市普渡科技有限公司 机器人
CN216940700U (zh) * 2021-11-17 2022-07-12 深圳市普渡科技有限公司 机器人
CN219504810U (zh) * 2022-12-20 2023-08-11 深圳市普渡科技有限公司 机器人

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5168601A (en) * 1992-07-21 1992-12-08 Liu Kun Hei Adjustable baby cart handrail positioning device
KR200322353Y1 (ko) * 2003-04-22 2003-08-09 심우석 회전 연결구를 갖는 유리창 닦이구
DE202004009880U1 (de) * 2004-06-23 2004-09-30 Chen, Lang, Guang Zhou Mopanordnung in Kombination mit einem Gummischrubber
US8898862B1 (en) * 2014-04-29 2014-12-02 Andrew H. McGrath Push-button, locking hinge assembly
NL2014343B1 (en) * 2015-02-24 2016-10-13 Bobergo B V Rollator-trolley.
JP2021139415A (ja) * 2020-03-03 2021-09-16 向陽エンジニアリング株式会社 角度調整構造体
CN113771091B (zh) * 2020-05-21 2025-11-28 炬星科技（深圳）有限公司 一种扶手和包括该扶手的机器人
CN216940699U (zh) * 2021-11-17 2022-07-12 深圳市普渡科技有限公司 机器人

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105640743A (zh) * 2015-12-17 2016-06-08 吉林大学 多功能步态矫姿与行走减负器
WO2022063228A1 (zh) * 2020-09-27 2022-03-31 张望荣 座椅结构和推车
CN216932958U (zh) * 2021-11-17 2022-07-12 深圳市普渡科技有限公司 机器人
CN216940700U (zh) * 2021-11-17 2022-07-12 深圳市普渡科技有限公司 机器人
DE202022100209U1 (de) * 2021-12-16 2022-01-21 Suzhou Anri Child Products Co.,Ltd Wagen-Klappgelenkmechanismus und Kinderwagen mit einem derartigen Wagen-Klappgelenkmechanismus
CN114590117A (zh) * 2022-04-18 2022-06-07 一汽解放汽车有限公司 锁止装置、框架机构及车辆
CN219504810U (zh) * 2022-12-20 2023-08-11 深圳市普渡科技有限公司 机器人

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4527573A4

Also Published As

Publication number Publication date
JP2025519923A (ja) 2025-06-26
KR102945437B1 (ko) 2026-03-27
CN219504810U (zh) 2023-08-11
KR20250012629A (ko) 2025-01-24
EP4527573A4 (en) 2025-11-05
EP4527573A1 (en) 2025-03-26
US20250319586A1 (en) 2025-10-16

Similar Documents

Publication Publication Date Title
EP4527573A1 (en) Robot
US6199809B1 (en) Support device for keyboard
US11549670B2 (en) Pin-type connection apparatus
US20230008962A1 (en) Rotation control mechanism for folding ladder, and folding ladder
CN216110130U (zh) 锁具
CN112302424B (zh) 保护结构的保护方法和保管柜的保护方法
WO2024250647A1 (zh) 铰链装置和折叠集装箱
TWI490420B (zh) Rotary stop type biaxial hub
WO2023193555A1 (zh) 面板角度调节机构及具有其的角度可调节桌
US20250331634A1 (en) Gravity-actuated locking structure and piece of foldable furniture
JP3225829U (ja) 折り畳み式テント用センターロック装置
WO2023201852A1 (zh) 一种锁头机构及锁紧装置
TWI834352B (zh) 鎖固組件
CN220036361U (zh) 一种门窗把手结构
JP6944559B2 (ja) ラッチ
CN101476590B (zh) 双轴式转轴结构
CN209744012U (zh) 稳定器折叠结构及手持式稳定器
CN110535042B (zh) 一种便于开启的配电柜
CN2814910Y (zh) 转枢轴定位结构
CN223164467U (zh) 一种用于梯具的铰链装置
CN220957493U (zh) 一种多屏翻转锁紧装置
TWI728754B (zh) 把手之鎖扣結構
JPH03183883A (ja) 蝶番装置
CN217898378U (zh) 一种连接锁及显示屏
US20190338590A1 (en) Ladder with system opening facilitator

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23905285

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 18873521

Country of ref document: US

WWE Wipo information: entry into national phase

Ref document number: 2023905285

Country of ref document: EP

ENP Entry into the national phase

Ref document number: 20247042311

Country of ref document: KR

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 1020247042311

Country of ref document: KR

ENP Entry into the national phase

Ref document number: 2023905285

Country of ref document: EP

Effective date: 20241216

WWE Wipo information: entry into national phase

Ref document number: 2024575558

Country of ref document: JP

NENP Non-entry into the national phase

Ref country code: DE

WWP Wipo information: published in national office

Ref document number: 18873521

Country of ref document: US

WWG Wipo information: grant in national office

Ref document number: 1020247042311

Country of ref document: KR