CN104647348A - Split type robot - Google Patents
Split type robot Download PDFInfo
- Publication number
- CN104647348A CN104647348A CN201310589460.8A CN201310589460A CN104647348A CN 104647348 A CN104647348 A CN 104647348A CN 201310589460 A CN201310589460 A CN 201310589460A CN 104647348 A CN104647348 A CN 104647348A
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- CN
- China
- Prior art keywords
- split type
- housing
- type robot
- machine body
- guide rod
- 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.)
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention provides a split type robot. The split type robot can limit the radial swaying of front and back machine bodies but not influence the floating of the machine body along the direction perpendicular to the working surface, and further can improve the radial swaying of the machine body and make the connection of the machine body more stable. The split type robot comprises a first machine body (1) and a second machine body (2); the first machine body (1) and the second machine body (2) are connected by a driving mechanism, and the driving mechanism drives the first machine body (1) and the second machine body (2) to open and close so as to walk. The split type robot further comprises a gliding guide rod (3), and the gliding guide rod (3) is provided with a connecting end (8) and a free end (9); the free end (9) is embedded in a guide rod holding hollow cavity (4) arranged at the first machine body (1), the connecting end (8) is connected with the second machine body (2), and the guide rod holding hollow cavity (4) is provided with a top wall and a bottom wall which are in opposite to the working surface, and left and right side walls in parallel to the walking direction; a displacement space is formed among the gliding guide rod (3), the top wall and the bottom wall; moreover, the gliding guide rod (3) is leaned against the left and right side walls.
Description
Technical field
The present invention relates to a kind of such as, by making front body and rear body folding realize the split type robot of walking, split type clean robot.
Background technology
At present, existing split type robot generally comprises the front body and rear body that can be movable relatively, drives front body relatively to draw close with rear body or be separated by driving mechanism, realizes the creeping motion type walking of robot.But front body is only connected by driving mechanism with rear body, radial connection is not very firm, when two bodies are separated, body along drive rod to radially wobble amplitude comparatively large, be unfavorable for the straight line moving of body, and easily damage is caused to driving mechanism, the serious life-span of reducing driving mechanism.
In order to solve the problem, common way is between two bodies, set up the sliding guide of shaft hole matching class.But split type robot needs to possess the ability of crossing over step sometimes according to need of work, arrange this type of sliding guide and can limit two bodies perpendicular to floating on working surface direction, therefore a kind of more excellent scheme is urgently to be resolved hurrily.
In addition, the driving mechanisms such as leading screw are relied on to make front and back body folding realize in the split type robot of walking, due to employing leading screw and the nut substantially of the connection between the body of front and back, motion between being connected with for fear of two bodies of other places, and joint gap between leading screw and nut is comparatively large, and connecting length is shorter, radial connection is not very firm, when being connected to front and back two body respectively and separately, two bodies will be very large along radially wobbling of drive rod, is unfavorable for the straight line moving of machine like this.Particularly for adopting the clean robot of walking in this way, be unfavorable for that very much it automatically controls and have a strong impact on cleaning effect.
Summary of the invention
In view of the above problems, the object of the present invention is to provide a kind of split type robot, can limit front and back body radially wobble but do not affect body along perpendicular to working surface direction float, thus can improve body radially wobble and make body connect more firm.
Split type robot of the present invention comprises the first housing and the second housing, the described first housing is connected by driving mechanism with the second housing, the described first housing and the second housing is driven to divide incompatible realization to walk by described driving mechanism, wherein, described split type robot also comprises sliding guide, described sliding guide has link and free end, described free end is embedded in the accommodating cavity of guide rod set by the described first housing, described link is connected with the described second housing, the accommodating cavity of described guide rod is provided with roof relative to working surface and diapire, and be parallel to a left side for direction of travel, right side wall, described sliding guide and described roof, between diapire, there is displacement space, and support with described left and right sidewall homogeneous phase.
In order to not affect body along floating perpendicular to working surface direction, the link of preferred described sliding guide is rotatably connected with the described second housing, and described free end can be swung along the direction perpendicular to working surface.Or the link of described sliding guide is fixedly connected with the described second housing, make described free end can along perpendicular to the direction of working surface and described first housing relative displacement.
As the concrete structure realizing the above-mentioned effect of the present invention, preferred described sliding guide is made up of support and tumbler, described tumbler is rotatably sticked on described support, and described tumbler is connected to the left and right sidewall of the accommodating cavity of described guide rod, radially wobbles to limit body.In addition, the quantity of preferred described tumbler is multiple, is disposed on described support.
As a preferred embodiment, described tumbler is roller, and the rotating shaft of described roller is vertical with working surface.
Accompanying drawing explanation
Fig. 1 is the overall structure figure of split type robot of the present invention, the state that before and after representing, body is separated.
Fig. 2 is the unitary side view that split type robot of the present invention is observed from proceeds posterolateral, the state that before and after representing, body is separated.
Fig. 3 is the exploded perspective view of sliding guide of the present invention.
Fig. 4 is the top view of sliding guide of the present invention.
Fig. 5 is sliding guide scheme of installation of the present invention.
Fig. 6 is the generalized section of the front body after installation sliding guide of the present invention.
Description of reference numerals
Body before 1
Body after 2
3 sliding guides
The accommodating cavity of 4 guide rod
5 leading screws
6 metallic supports
7 rollers
8 links
9 free ends
Detailed description of the invention
Referring now to Fig. 1 to Fig. 6, split type robot of the present invention is described.In this patent, radial direction refers to the left and right directions in Fig. 6, and the direction perpendicular to working surface refers to the above-below direction in Fig. 6.
As depicted in figs. 1 and 2, described split type robot comprises front body 1 and rear body 2, and front body 1 is connected by screw-nut body with rear body 2, divides incompatible realization to walk by being driven front and back body by described screw-nut body.Screw-nut body has leading screw 5, is provided with two sliding guides 3 in the radial both sides of leading screw 5.
As shown in Figure 3 and Figure 4, described sliding guide 3 comprises metallic support 6 and roller 7, metallic support 6 comprises link 8 and free end 9, described link 8 is fixedly connected with rear body 2, current body 1 and rear body 2 are perpendicular to when there is relative displacement in the direction of working surface, free end 9 can along perpendicular to the direction of working surface and front body 1 relative displacement, certainly, also rotatably can be connected by pivot, bearing etc. herein, guide rod 3 can be turned (pivot swinging) at a plane internal rotation perpendicular to working surface.Spaced multiple roller 7 is rotatably sticked in metallic support 6, and the rotating shaft of roller 7 is vertical with working surface, and as shown in Figure 4 and Figure 6, a part for roller 7 is stretched out from the left and right sides of metallic support 6.
In addition, on the housing of described front body 1, also correspondence is provided with the accommodating cavity 4 of guide rod holding sliding guide 3, and as shown in Figure 6, the free end 9 of metallic support 6 is embedded in the accommodating cavity 4 of guide rod, and roller 7 is connected to the left and right sides wall of the accommodating cavity 4 of guide rod.When mmi machine body 1 and rear body 2 utilize screw-nut body relative motion, sliding guide 3 and the accommodating cavity 4 of guide rod are along body direction of travel relative sliding.In the process, described roller 7 can rotate along the left and right sidewall of the accommodating cavity 4 of guide rod, reduces the frictional force of the sidewall relative motion of sliding guide 3 and the accommodating cavity 4 of guide rod dramatically.In addition, between the upper lower wall of the both sides up and down of sliding guide 3 and the accommodating cavity of guide rod 4, there is displacement space, current body 1 and rear body 2 are perpendicular to when there is relative displacement in the direction of working surface, the free end 9 of metallic support 6 is up and down in described displacement space, thus front body 1 and rear body 2 can be floated along the direction perpendicular to working surface.
As mentioned above, according to the present invention, in the both sides of the leading screw 5 of the screw-nut body for connecting front and back body 1,2, be respectively equipped with a sliding guide 3, after the front and back body 1,2 points of split type robot is opened, owing to there being the support of two sliding guides 3, radially wobbling of front and back body 1,2 is made to narrow down to very little scope, significantly radially wobbling after can preventing front and back body 1,2 points from opening, thus can improve body radially wobble and make body connect more firm.Particularly by split type robot application of the present invention in split type clean robot time, easily automatically control and improve cleaning effect.
Above, describe one embodiment of the present of invention by reference to the accompanying drawings, it is emphasized that this embodiment be of the present invention one of preferred embodiment, protection scope of the present invention is by the restriction of this embodiment.In addition, implement in process of the present invention concrete, those skilled in the art according to the concrete feature of target, can select suitable technical scheme.Such as, in the above-described embodiment, describe mmi machine body 1 and the accommodating cavity 4 of guide rod is set, the free end side of metallic support 6 is embedded in the accommodating cavity 4 of guide rod, and the link 8 of metallic support 6 is connected with rear body 2.But also in contrast, accommodating for guide rod cavity 4 can be arranged at rear body 2, and the link 8 of metallic support 6 is connected with front body 1.
And for example, in the above-described embodiment, roller 7 is rotatably sticked in metallic support 6, as long as but adopt the tumbler offseted with guide rod accommodating cavity about 4 sidewall.In a word, any deduction that the basis of the technical scheme of request protection of the present invention is done, all enters protection scope of the present invention.
Claims (6)
1. a split type robot, comprise the first housing (1) and the second housing (2), the described first housing (1) is connected by driving mechanism with the second housing (2), the described first housing (1) and the second housing (2) point incompatible realization walking is driven by described driving mechanism, the feature of described split type robot is
Also comprise sliding guide (3), described sliding guide (3) has link (8) and free end (9), described free end (9) is embedded in the accommodating cavity of guide rod (4) set by the described first housing (1), and described link (8) is connected with the described second housing (2)
The accommodating cavity of described guide rod (4) is provided with roof relative to working surface and diapire, and is parallel to the left and right sidewall of direction of travel, has displacement space, and support with described left and right sidewall homogeneous phase between described sliding guide (3) and described roof, diapire.
2. split type robot according to claim 1, is characterized in that, the link (8) of described sliding guide (3) is rotatably connected with the described second housing (2), and described free end (9) can be swung along the direction perpendicular to working surface.
3. split type robot according to claim 1, it is characterized in that, the link (8) of described sliding guide (3) is fixedly connected with the described second housing (2), makes described free end (9) can along perpendicular to the direction of working surface and the described first housing (1) relative displacement.
4. split type robot as claimed in any of claims 1 to 3, is characterized in that,
Described sliding guide (3) is made up of support (6) and tumbler (7,10), and described tumbler (7,10) is rotatably sticked on described support (6),
Described tumbler (7,10) is connected to the left and right sidewall of the accommodating cavity of described guide rod (4), radially wobbles to limit body.
5. split type robot according to claim 4, is characterized in that, the quantity of described tumbler (7,10) is multiple, is disposed on described support (6).
6. split type robot according to claim 4, is characterized in that, described tumbler (7,10) is roller (7), and the rotating shaft of described roller (7) is vertical with working surface.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310589460.8A CN104647348B (en) | 2013-11-20 | 2013-11-20 | Split type robot |
| PCT/CN2014/091618 WO2015074559A1 (en) | 2013-11-20 | 2014-11-19 | Split-type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310589460.8A CN104647348B (en) | 2013-11-20 | 2013-11-20 | Split type robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104647348A true CN104647348A (en) | 2015-05-27 |
| CN104647348B CN104647348B (en) | 2017-03-15 |
Family
ID=53178957
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310589460.8A Active CN104647348B (en) | 2013-11-20 | 2013-11-20 | Split type robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104647348B (en) |
| WO (1) | WO2015074559A1 (en) |
Citations (10)
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| US7461591B2 (en) * | 2003-09-12 | 2008-12-09 | New Pressing Technology Di Babbini Maria Teresa E C. S.R.L. | Screw press for squeezing out fibrous material |
| CN101369385A (en) * | 2008-08-26 | 2009-02-18 | 东北大学 | Modularized reconfigurable multifunctional education robot |
| CN102348593A (en) * | 2009-02-12 | 2012-02-08 | 安曼瑞士股份公司 | Hinge assembly for connecting two vehicle parts to a vehicle having articulated frame steering |
| CN102642576A (en) * | 2012-04-18 | 2012-08-22 | 东南大学 | Single-chain-type modularized self-reconfiguration robot with rolling and crawling gaits |
| CN202593667U (en) * | 2012-04-20 | 2012-12-12 | 上海电机学院 | Two-section type rod climbing robot |
| CN202593670U (en) * | 2012-04-20 | 2012-12-12 | 上海电机学院 | Two-section type wall climbing robot |
| CN103085058A (en) * | 2011-11-07 | 2013-05-08 | 雅马哈发动机株式会社 | Cleaning robot |
| CN103273979A (en) * | 2013-06-20 | 2013-09-04 | 北京信息科技大学 | Splittable snake-like robot with multiple motion modes |
| CN203266650U (en) * | 2013-04-22 | 2013-11-06 | 汕头大学 | Snakelike robot with three-dimensional motion ability |
| CN203611245U (en) * | 2013-11-20 | 2014-05-28 | 苏州科沃斯商用机器人有限公司 | Split type robot |
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|---|---|---|---|---|
| SU872250A1 (en) * | 1979-12-10 | 1981-10-15 | Тбилисское Станкостроительное Производственное Объединение "Станкостроитель" | Manipulator joint |
| US5261758A (en) * | 1992-07-27 | 1993-11-16 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Split spline screw |
| US7296962B2 (en) * | 2004-04-08 | 2007-11-20 | Fabworx Solutions, Inc. | Split assembly robotic arm |
| CN201960561U (en) * | 2010-06-12 | 2011-09-07 | 莱恩精机(深圳)有限公司 | Split-type servo manipulator |
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2013
- 2013-11-20 CN CN201310589460.8A patent/CN104647348B/en active Active
-
2014
- 2014-11-19 WO PCT/CN2014/091618 patent/WO2015074559A1/en active Application Filing
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7461591B2 (en) * | 2003-09-12 | 2008-12-09 | New Pressing Technology Di Babbini Maria Teresa E C. S.R.L. | Screw press for squeezing out fibrous material |
| CN101369385A (en) * | 2008-08-26 | 2009-02-18 | 东北大学 | Modularized reconfigurable multifunctional education robot |
| CN102348593A (en) * | 2009-02-12 | 2012-02-08 | 安曼瑞士股份公司 | Hinge assembly for connecting two vehicle parts to a vehicle having articulated frame steering |
| CN103085058A (en) * | 2011-11-07 | 2013-05-08 | 雅马哈发动机株式会社 | Cleaning robot |
| CN102642576A (en) * | 2012-04-18 | 2012-08-22 | 东南大学 | Single-chain-type modularized self-reconfiguration robot with rolling and crawling gaits |
| CN202593667U (en) * | 2012-04-20 | 2012-12-12 | 上海电机学院 | Two-section type rod climbing robot |
| CN202593670U (en) * | 2012-04-20 | 2012-12-12 | 上海电机学院 | Two-section type wall climbing robot |
| CN203266650U (en) * | 2013-04-22 | 2013-11-06 | 汕头大学 | Snakelike robot with three-dimensional motion ability |
| CN103273979A (en) * | 2013-06-20 | 2013-09-04 | 北京信息科技大学 | Splittable snake-like robot with multiple motion modes |
| CN203611245U (en) * | 2013-11-20 | 2014-05-28 | 苏州科沃斯商用机器人有限公司 | Split type robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104647348B (en) | 2017-03-15 |
| WO2015074559A1 (en) | 2015-05-28 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
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| CB02 | Change of applicant information |
Address after: Wuzhong Economic Development Zone in Suzhou City, Jiangsu Province, the River Street 215104 Youxiang Road No. 18 building 3 Applicant after: Ecovacs commercial robot Co Ltd Address before: Wuzhong District Wuzhong Economic Development Zone Suzhou city Jiangsu province 215104 the River Street Youxiang Road No. 18 building 3 Applicant before: Butterworth business machine people Co., Ltd of Suzhou section |
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| CB02 | Change of applicant information | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |