CN107434017A - A kind of portable robot - Google Patents
A kind of portable robot Download PDFInfo
- Publication number
- CN107434017A CN107434017A CN201710641139.8A CN201710641139A CN107434017A CN 107434017 A CN107434017 A CN 107434017A CN 201710641139 A CN201710641139 A CN 201710641139A CN 107434017 A CN107434017 A CN 107434017A
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- Prior art keywords
- drive
- horizontal
- vertical slide
- driving
- bar
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, 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
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
-
- 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
- B25J19/04—Viewing devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of portable robot, including body and supporting mechanism；Body includes housing；Supporting mechanism includes folding landing leg and stretching, extension drive mechanism；Each folding landing leg includes being used for itself spacing mounting rod on housing and the drive link for driving pulls or folding；Stretching drive mechanism includes the two driving output shafts and two transmission components of synchronous axial system；Each transmission component includes driving gear, driven gear component, vertical slide bar, horizontal drive bar assembly and the back-moving spring for providing reseting elasticity for vertical slide bar；When each driving gear rotates, driving tooth wheel portion drives a corresponding driven gear to rotate by driven tooth wheel portion, and then drive a corresponding vertical slide bar to move up and down by the involute helicla flute on driven gear, and then drive horizontal drive bar and drive link to move up and down；Horizontal stud portion drives a corresponding mounting rod to move back and forth in the horizontal direction.
Description
Technical field
The invention belongs to robotic technology field, and in particular to a kind of portable robot.
Background technology
Underwater robot has video camera or camera more, is generally used for hydrologic research, underwater monitoring, detects under water, water
The fields such as lower rescue, underwater salvage, the supervision of nuclear power station waters and the cleaning of underwater oil job platform.
A kind of existing underwater robot, it is under water on the basis of video camera, increases mobile module, it is autonomous so as to complete
Mobile or controlled movement.
Patent document CN201733377U discloses a kind of Underwater Camera, including seal casinghousing, video camera module, and
The control panel that controlled motor rotates；First gear disk is horizontally installed with the seal casinghousing and drives first tooth
The first motor that wheel disc rotates；The first gear disk center is provided with the conducting slip ring of a transmission electric power and signal,
The conducting slip ring is by screw with being tightened together at the top of the main support；A n is provided with below the first gear disk
Shape main support, the top of the main support are fixedly connected with the first gear disk；Is provided with the side wall of the main support
Two toothed discs and the second motor for driving the second gear disk to rotate；One U-shaped is installed in the main support to bear
Support, a side wall of the negative support are connected with the second gear disk；The video camera module is fixedly mounted on the negative branch
On frame.When the first motor drives first gear disc spins, main support will rotate therewith, you can realize video camera water
Square to 360 ° of rotation；When the second motor drives second gear disc spins, negative support can rotate therewith, you can
Realize the rotation of video camera ± 90 °.Video camera is powered in horizontal and vertical rotary course by conducting slip ring and the external world
With signal transmission, exchange, conducting slip ring ensures the not power down in course of normal operation of video camera module, not lossing signal, continuously
Work, while ensure that support can continuous 360 degree of rotations.This kind of Underwater Camera is simple in construction, and video camera can be with horizontal direction
360 degree of rotations, vertical direction ± 90 degree rotation, realize comprehensive observation, widen the underwater visual field.
This kind of Underwater Camera has the following disadvantages：It need to hold or be used on other objects, when its is straight
Connect when sinking under water, transparent ball cover will be made dirty by mud, hinder shooting.
The content of the invention
It is an object of the invention to provide a kind of portable robot with two folding landing legs, two folding landing leg was both
Can folding extension and can approach away from each other, during storage can by fold two overall space-consumings of folding landing leg compared with
Small, two folding landing legs can lift Area of bearing away from each other to ensure stability during work, and and can stretching, extension two folds branch
Leg supports body from mud bottom.
Realizing the technical scheme of the object of the invention is：A kind of portable robot, including body and supporting mechanism；Body bag
Include housing；Supporting mechanism includes folding landing leg and stretching, extension drive mechanism；Each folding landing leg is included for itself is spacing in housing
On mounting rod and drive link for driving pulls or folding；Each mounting rod is slidably arranged in housing wall in the horizontal direction
On body；
Stretching drive mechanism includes the two driving output shafts and two transmission components of synchronous axial system；Each transmission component is included actively
Gear, driven gear component, vertical slide bar, horizontal drive bar assembly and the reset bullet for providing reseting elasticity for vertical slide bar
Spring；
Driving gear includes driving tooth wheel portion and horizontal stud portion, and driving tooth wheel portion is fixedly installed on corresponding driving output shaft
On, and the reciprocating rotation on vertical guide；Each mounting rod is provided with and the horizontal screw of horizontal stud portion adaptation, and horizontal stud portion is located at
In the horizontal screw of a corresponding mounting rod；Each driven gear includes driven tooth wheel portion, involute helical groove portion and shaft；Water
The both ends of flat actuated lever assemblies are each connected with the drive link in a corresponding folding landing leg；Case top, which is provided with two, has lead
The vertical sleeve pipe of vertical slide opening, each vertical slide bar are located in a corresponding vertical slide opening and can up and down reciprocatingly slided；Each vertical slide bar
Top be provided with the connecting portion being connected with main drive rod, the bottom of each vertical slide bar, which is provided with, is used for intercalation in involute helical groove portion
Groove in guide and limit portion；Each back-moving spring is set on a corresponding vertical slide bar, for for vertical slide bar provide to
Under elastic force；
When each driving gear rotates, driving tooth wheel portion drives a corresponding driven gear to rotate by driven tooth wheel portion, Jin Ertong
The involute helicla flute crossed on driven gear drives a corresponding vertical slide bar to move up and down, and then drives horizontal drive bar and biography
Lever moves up and down；Horizontal stud portion drives a corresponding mounting rod to move back and forth in the horizontal direction.
In such scheme, body also includes the photographing module being built in housing.
In such scheme, shaft includes two evagination slide-bars positioned at driving gear both sides；It is fixed with housing more
The individual spacing sliding sleeve with spacing slide opening, the evagination slide-bar of each driven gear are located at the spacing cunning of a corresponding spacing sliding sleeve respectively
Kong Zhong；Each driven gear can reciprocatingly slide along spacing slide opening.
In such scheme, horizontal drive bar assembly includes main drive rod and two secondary drivings positioned at main drive rod both sides
Bar, main drive rod and secondary drive rod are horizontally disposed, and the outboard end of each secondary drive rod passes through pin and a corresponding biography
Lever is connected；The two side ends of main drive rod are equipped with the sliding projection of evagination, the side of the main drive rod of adjoining of each secondary drive rod
End is provided with center slide opening, and each sliding projection inserts a corresponding center slide opening and can reciprocatingly slided along the center slide opening.
In such scheme, folding landing leg also includes combining the complex wrapping frame and complex wrapping frame formed by multiple X-frames
The connected V-arrangement gangbar of middle one X-frame in the top and the support feet being connected with complex wrapping frame bottom；Each complex wrapping frame
A uppermost X-frame is arranged on a corresponding mounting rod by a pin rotation；Drive link is set along plumb line direction
Put；The bottom of drive link and the hinged end of a corresponding V-arrangement gangbar are rotatedly connected.
The present invention has positive effect：（1）Two folding landing legs can folding extension and can approach away from each other, deposit
When can be smaller by folding two overall space-consumings of folding landing leg, during work two folding landing legs can away from each other from
And Area of bearing is lifted to ensure stability, and can two folding landing legs of stretching, extension support body prevents the dirty transparent sight of sludge from mud bottom
Examine window.（2）Stretching, extension drive mechanism promotes vertical slide bar to move up it by using involute helical groove portion, and utilizes back-moving spring
Pushing vertical slide bar moves down it, so as to realize moving back and forth up and down for vertical slide bar.
Brief description of the drawings
Fig. 1 is a kind of dimensional structure diagram that the present invention is in folded state；
Fig. 2 is a kind of dimensional structure diagram when robot is from another angle shown in Fig. 1；
Fig. 3 is a kind of explosive view of robot shown in Fig. 1；
Fig. 4 is a kind of half section structure diagram of robot shown in Fig. 1；
Fig. 5 is a kind of dimensional structure diagram that robot shown in Fig. 1 is in extended configuration.
Reference is：
Housing 1, hemispherical observation window 11, horizontal slide opening 12, vertical sleeve pipe 13, vertical slide opening 131, spacing sliding sleeve 14, spacing cunning
Hole 141, photographing module 2, cradle head mechanism 21, camera 22, folding landing leg 3, frame plate 30, complex wrapping frame 31, X-frame 311, V
Shape gangbar 32, drive link 33, mounting rod 34, horizontal screw 341, support feet 35, kidney-shaped slide opening 351, bearing pin 352 is rolled, increased
Strong link assembly 36, first connecting rod 361, second connecting rod 363, traveller portion 364, stretches drive mechanism 4, stretches motor 41,
Drive shaft 411, driving output shaft 412, transmission component 5, driving gear 51, driving tooth wheel portion 511, horizontal stud portion 512, from
Moving gear 52, driven tooth wheel portion 521, involute helical groove portion 522, shaft 523, evagination slide-bar 524, vertical slide bar 53, even
Socket part 531, guide and limit portion 532, horizontal drive bar assembly 54, main drive rod 541, sliding projection 542, secondary drive rod 543, in
Heart slide opening 544, annular bar portion 545, back-moving spring 55, propeller drive mechanism 6, propeller blade 61, blade motor 62, oar
Leaf drive rod 63.
Embodiment
（Embodiment 1）
The present embodiment is a kind of robot, as shown in Fig. 1 to Fig. 5, including body, supporting mechanism and propeller drive mechanism 6；This
Body includes housing 1 and the photographing module 2 being built in housing；Supporting mechanism includes two folding landing legs for being arranged on hull outside
3 and for driving the stretching, extension drive mechanism 4 of two folding landing leg synchronous extensions or folding.
The bottom of housing is provided with transparent hemispherical observation window 11；Photographing module, which includes being built in housing, has driving
The cradle head mechanism 21 of motor 211, the camera 22 being arranged on cradle head mechanism and the illuminating lamp being arranged on cradle head mechanism（On figure
It is not drawn into）.Camera 22 is fixedly installed on the bottom of cradle head mechanism, the transparent wall body of camera face hemispherical observation window.
Each folding landing leg 3 includes being combined in the complex wrapping frame 31 formed and complex wrapping frame most by multiple X-frames 311
The connected V-arrangement gangbar 32 of an X-frame 311, the drive link 33, the mounting rod 34 that are connected with V-arrangement gangbar center of rotation above
And it is arranged on the support feet 35 below complex wrapping frame；
Each X-frame 311 is to be hinged and connected to be formed by respective middle part by two frame plates 30, in adjacent two X-frames, above
The top of two frame plates of the bottom of two frame plates of one X-frame and a following X-frame is rotatedly connected；
The wall body of housing opposite sides is provided with two horizontal slide openings 12, and each mounting rod 34 is to be slidably arranged in a corresponding level
Housing is exposed in horizontal sliding bar in slide opening, the outer end of each mounting rod；Each uppermost X-frame of complex wrapping frame passes through one
Pin rotation is arranged on a corresponding mounting rod, and in the present embodiment, the pin is arranged in the outer end of a corresponding mounting rod
At the heart, two frame plates of the X-frame are around the pin rotation.This structure causes each mounting rod can be in a corresponding horizontal slide opening
Reciprocatingly slide in the horizontal direction.
V-arrangement gangbar is to be rotatedly connected to combine by the abutting end of two frame plates 30 to be formed, namely two framves of V-arrangement gangbar
The abutting end of plate forms hinged end；The top of two frame plates of one X-frame in the top and V-arrangement gangbar in each complex wrapping frame
In the bottoms of two frame plates be rotatedly connected；
Drive link is set along plumb line direction；The bottom of drive link and the hinged end of a corresponding V-arrangement gangbar are rotatedly connected, this
In embodiment, the bottom of two frame plates and a corresponding drive link is hinged and connected with what a bearing pin was realized in V-arrangement gangbar.
Support feet is provided with horizontal-extending kidney-shaped slide opening 351, two of a bottom X-frame in each complex wrapping frame
Frame plate, the bottom of one of frame plate and support feet are rotatedly connected, and the bottom of another frame plate is provided with level to rolling bearing pin
352, the rolling bearing pin 352 is located in a corresponding kidney-shaped slide opening；When the complex wrapping frame stretches or folds, bearing pin edge is rolled
Kidney-shaped slide opening slides.
In order to increase by the intensity and stability of two folding landing legs, two enhancing connection rod sets are additionally provided between two support feets
Part 36.Each enhancing link assembly includes the first connecting rod 361 being fixedly installed in a support feet and is fixedly installed on another
Second connecting rod 363 in support feet, first connecting rod are provided with slide opening portion, and second connecting rod is provided with traveller portion 364, the traveller of second connecting rod
Portion is located in the slide opening portion of first connecting rod.When this structure causes two folding landing legs away from each other, the traveller portion of second connecting rod is still
In the slide opening of first connecting rod, namely cause it is each enhancing link assembly in first connecting rod and second connecting rod formed it is telescopic
Connection, to adapt to the away from each other and close of two folding landing legs.
Stretching drive mechanism 4 includes a stretching, extension motor 41 and two transmission components 5, and stretching, extension motor passes through two
Individual two drive links 33 of transmission component synchronous drive move back and forth along plumb line direction.
Stretching, extension motor 41 is a double shaft-protruding type motor, and the both ends of its drive shaft 411 are stretched out outside motor, so as to
Form two driving output shafts 412.
Each transmission component 5 includes driving gear 51, driven gear component 52, vertical slide bar 53, horizontal drive bar assembly 54
With the back-moving spring 55 for providing reseting elasticity for vertical slide bar；
Driving gear 51 includes driving tooth wheel portion 511 and horizontal stud portion 512, and driving tooth wheel portion is fixedly installed on a corresponding drive
On dynamic output shaft, and the reciprocating rotation on vertical guide；One side of each mounting rod close to stretching, extension motor is provided with and horizontal spiral shell
The horizontal screw 341 of post portion adaptation, horizontal stud portion is located in the horizontal screw of a corresponding mounting rod；It is main in the present embodiment
The driving tooth wheel portion of moving gear and horizontal stud portion are made into integration, and both are synchronized with the movement；When driving gear is extended motor
During drive, horizontal stud portion drives a corresponding mounting rod reciprocating rotation by screw drive mode so that the mounting rod is along water
Smooth holes move back and forth, and realize that the both sides of two mounting rods towards housings elongate or shorten, so as to drive two folding landing legs mutual
It is remote or close.
Case top is provided with two vertical sleeve pipes 13 with vertical slide opening 131.
Each driven gear includes driven tooth wheel portion 521, involute helical groove portion 522 and shaft 523；Driving tooth wheel portion and
The shape of driven tooth wheel portion is the circumference gear to fit each other, and driving gear is parallel with the center of rotation axis of driven gear
Horizontal line, driving gear are located at the surface of a corresponding driven gear.
Driven gear portion is located at driving gear and is located at driving tooth close to the side of stretching, extension motor, involute helical groove portion
The opposite side of wheel, shaft include two evagination slide-bars 524 positioned at driving gear both sides；In the present embodiment, driven tooth wheel portion
521st, involute helical groove portion 522 and shaft 523 are made into integration.
Multiple spacing sliding sleeves 14 with spacing slide opening 141, the evagination slide-bar point of each driven gear are fixed with housing
Wei Yu not be in the spacing slide opening of a corresponding spacing sliding sleeve；Each evagination slide-bar can be rotated and slided in spacing slide opening.This knot
Structure can cause each driven gear both to be rolled along spacing slide opening, and and can is in the horizontal direction toward polyslip in spacing slide opening.
When each driving gear rotates, by driving driven tooth wheel portion to rotate, and then a corresponding driven gear is driven to rotate,
Namely the corresponding involute helical groove portion of synchronous drive and shaft rotate.
In the present embodiment, the outboard end of each horizontal slide opening and vertical slide opening is equipped with waterproof seal ring, so as to prevent liquid
Entered through slide opening in housing.
Horizontal drive bar assembly includes main drive rod 541 and two secondary drive rods 543 positioned at main drive rod both sides, main drive
Lever and secondary drive rod are horizontally disposed, and the outboard end of each secondary drive rod passes through pin and a corresponding drive link phase
Even；The two side ends of main drive rod are equipped with the sliding projection 542 of evagination, and a side of the main drive rod of adjoining of each secondary drive rod is set
There is center slide opening 544, each sliding projection inserts a corresponding center slide opening and can reciprocatingly slided along the center slide opening.Namely main drive
Lever and two secondary drive rods form telescopic connection.When the both sides of two mounting rods towards housings elongate or shorten, by
It can be reciprocatingly slided in the sliding projection of main drive rod along the center slide opening of secondary drive rod, so that horizontal drive bar assembly is whole
Body horizontal length also elongates or shortens therewith.In the present embodiment, horizontal drive bar assembly is located at the surface of housing.
Each vertical slide bar is located in the vertical slide opening of a corresponding vertical sleeve pipe, and can up and down reciprocatingly be slided along vertical slide opening
It is dynamic；The top of each vertical slide bar is provided with the connecting portion 531 being connected with main drive rod, and the bottom of each vertical slide bar is provided with guide and limit
The involute helical groove portion adaptation of portion 532, the shape in the guide and limit portion and a corresponding driven gear, so that the guiding
Limiting section can be with intercalation in the groove of involute helical groove portion；In the present embodiment, the connecting portion is one and is set in main driving
The collar on bar.
Each back-moving spring is set on a corresponding vertical slide bar, for providing downward reseting elasticity for vertical slide bar,
So that the bottom of the vertical slide bar is crimped in the groove of corresponding involute helical groove portion all the time, prevent the vertical slide bar and from
Moving gear departs from.In the present embodiment, a baffle ring is fixed with the outer wall of vertical slide bar, the top of back-moving spring is connected to lead
Hang down on sleeve pipe, the bottom of back-moving spring is connected on baffle ring, and the back-moving spring is compression spring.
When driven gear rotates, due to a corresponding vertical slide bar bottom intercalation all the time and be crimped on the driven gear
Involute helical groove portion groove in, and because vertical slide bar is constant by vertical casing limit, central shaft line position；So
So that the driven gear reciprocatingly slides along the spacing slide opening of limit casing, the present embodiment is reciprocatingly slided along horizontal line direction；Institute
Can jack up or fall vertical slide bar with the involute helical groove portion of driven gear, realize drive horizontal drive bar assembly rise or
Move down, and then the drive link 33 in Foldable supporting leg.
In the present embodiment, the driving gear of stretching, extension motor synchronous drive two and two driven gear synchronous axial systems, two water
Flat stud portion drives two mounting rods synchronously overhanging or inside contract along horizontal slide opening, and then passes through folding landing leg and drive two secondary drivings
Bar is overhanging or inside contracts so that the distance between two folding landing legs increased or decrease；It is overall when the spacing increase of two folding landing legs
It is relatively stable, it is not easy to rock；When the spacing of two folding landing legs reduces, overall space-consuming reduces, and is easy to carry.
Two driven gears drive two vertical slide bars and horizontal drive bar assembly to move up or decline, and then drive each folding
Drive link in supporting leg is moved up or declined；When drive link is moved up or declined, the V-arrangement gangbar of Foldable supporting leg, due to each folding
The X-frame of the top one of folded supporting leg is arranged on mounting rod, so whole stretching or pressure of the folding landing leg with V-arrangement gangbar
Contract and stretch or fold up；When folding landing leg full extension, support feet is displaced downwardly to more than housing bottom, so as to by housing branch
Prop up and so that hemispherical observation window can be higher by underwater mud face；When folding landing leg is folded, overall space-consuming compared with
It is small, it is easy to carry about with one.
Propeller blade 61, the blade of setting in the housing that propeller drive mechanism 6 is included directly over housing drive
Motor 62 and the blade drive rod 63 being rotatably arranged in housing top wall；Blade motor drives spiral by blade drive rod
Oar reciprocating rotation；Because horizontal drive bar assembly is also in the surface of housing, in order to avoid horizontal drive bar assembly hinders spiral
Oar rotates, and the annular bar portion 545 that the middle part of main drive rod has and propeller is arranged concentrically, the aperture of the annular bar portion is more than spiral shell
Revolve the maximum outside diameter of blade.This structure causes both not hinder each other, ensures respective normal operation.
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not pair
The restriction of embodiments of the present invention.For those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms.There is no necessity and possibility to exhaust all the enbodiments.And these
The obvious changes or variations that the connotation for belonging to of the invention is extended out still falls within protection scope of the present invention.
Claims (4)
1. a kind of portable robot, including body and supporting mechanism；Body includes housing；It is characterized in that：Supporting mechanism bag
Include folding landing leg and stretching, extension drive mechanism；
Each folding landing leg includes being used for itself spacing mounting rod on housing and the biography for driving pulls or folding
Lever；Each mounting rod is slidably arranged on housing wall body in the horizontal direction；
Stretching drive mechanism includes the two driving output shafts and two transmission components of synchronous axial system；Each transmission component is included actively
Gear, driven gear component, vertical slide bar, horizontal drive bar assembly and the reset bullet for providing reseting elasticity for vertical slide bar
Spring；
Driving gear includes driving tooth wheel portion and horizontal stud portion, and driving tooth wheel portion is fixedly installed on corresponding driving output shaft
On, and the reciprocating rotation on vertical guide；Each mounting rod is provided with and the horizontal screw of horizontal stud portion adaptation, and horizontal stud portion is located at
In the horizontal screw of a corresponding mounting rod；
Each driven gear includes driven tooth wheel portion, involute helical groove portion and shaft；
The both ends of horizontal drive bar assembly are each connected with the drive link in a corresponding folding landing leg；
Case top is provided with two vertical sleeve pipes with vertical slide opening, and each vertical slide bar is located in a corresponding vertical slide opening simultaneously
Can up and down reciprocatingly it slide；
The top of each vertical slide bar is provided with the connecting portion being connected with main drive rod, and the bottom of each vertical slide bar is provided with to exist for intercalation
Guide and limit portion in the groove of involute helical groove portion；Each back-moving spring is set on a corresponding vertical slide bar, for for
Vertical slide bar provides downward elastic force；
When each driving gear rotates, driving tooth wheel portion drives a corresponding driven gear to rotate by driven tooth wheel portion, Jin Ertong
The involute helicla flute crossed on driven gear drives a corresponding vertical slide bar to move up and down, and then drives horizontal drive bar and biography
Lever moves up and down；Horizontal stud portion drives a corresponding mounting rod to move back and forth in the horizontal direction.
2. portable robot according to claim 1, it is characterised in that：Body also includes the shooting being built in housing
Module；Shaft includes two evagination slide-bars positioned at driving gear both sides；Being fixed with housing multiple has spacing slide opening
Spacing sliding sleeve, the evagination slide-bar of each driven gear is respectively in the spacing slide opening of a corresponding spacing sliding sleeve；Each driven tooth
Wheel can reciprocatingly slide along spacing slide opening.
3. portable robot according to claim 2, it is characterised in that：Horizontal drive bar assembly include main drive rod and
Two secondary drive rods positioned at main drive rod both sides, main drive rod and secondary drive rod are horizontally disposed, each secondary drive rod
Outboard end be connected by pin with a corresponding drive link；The two side ends of main drive rod are equipped with the sliding projection of evagination, respectively
One side of the main drive rod of adjoining of secondary drive rod is provided with center slide opening, and each sliding projection inserts a corresponding center slide opening and can
Reciprocatingly slided along the center slide opening.
4. portable robot according to claim 3, it is characterised in that：Folding landing leg also includes by multiple X-frame groups
Close formed complex wrapping frame, with the V-arrangement gangbar that is connected of one X-frame in the top and and complex wrapping in complex wrapping frame
The connected support feet in frame bottom；Each uppermost X-frame of complex wrapping frame is arranged on corresponding one by a pin rotation
On individual mounting rod；Drive link is set along plumb line direction；The bottom of drive link and the hinged end of a corresponding V-arrangement gangbar rotate
It is connected.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810556640.9A CN108791770A (en) | 2017-07-31 | 2017-07-31 | portable robot |
| CN201810556663.XA CN108839778A (en) | 2017-07-31 | 2017-07-31 | There are two the portable robots of folding landing leg for a kind of tool |
| CN201710641139.8A CN107434017B (en) | 2017-07-31 | 2017-07-31 | A kind of portable robot |
| CN201810552862.3A CN108750047A (en) | 2017-07-31 | 2017-07-31 | A kind of portable robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710641139.8A CN107434017B (en) | 2017-07-31 | 2017-07-31 | A kind of portable robot |
Related Child Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810556640.9A Division CN108791770A (en) | 2017-07-31 | 2017-07-31 | portable robot |
| CN201810552862.3A Division CN108750047A (en) | 2017-07-31 | 2017-07-31 | A kind of portable robot |
| CN201810556663.XA Division CN108839778A (en) | 2017-07-31 | 2017-07-31 | There are two the portable robots of folding landing leg for a kind of tool |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107434017A true CN107434017A (en) | 2017-12-05 |
| CN107434017B CN107434017B (en) | 2018-06-26 |
Family
ID=60460918
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710641139.8A Active CN107434017B (en) | 2017-07-31 | 2017-07-31 | A kind of portable robot |
| CN201810552862.3A Withdrawn CN108750047A (en) | 2017-07-31 | 2017-07-31 | A kind of portable robot |
| CN201810556640.9A Withdrawn CN108791770A (en) | 2017-07-31 | 2017-07-31 | portable robot |
| CN201810556663.XA Withdrawn CN108839778A (en) | 2017-07-31 | 2017-07-31 | There are two the portable robots of folding landing leg for a kind of tool |
Family Applications After (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810552862.3A Withdrawn CN108750047A (en) | 2017-07-31 | 2017-07-31 | A kind of portable robot |
| CN201810556640.9A Withdrawn CN108791770A (en) | 2017-07-31 | 2017-07-31 | portable robot |
| CN201810556663.XA Withdrawn CN108839778A (en) | 2017-07-31 | 2017-07-31 | There are two the portable robots of folding landing leg for a kind of tool |
Country Status (1)
| Country | Link |
|---|---|
| CN (4) | CN107434017B (en) |
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| CN101993016A (en) * | 2009-08-12 | 2011-03-30 | 鸿富锦精密工业（深圳）有限公司 | Elevating mechanism |
| GB201112105D0 (en) * | 2011-07-14 | 2011-08-31 | Aquamarine Power Ltd | An underwater crawler apparatus |
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- 2017-07-31 CN CN201810552862.3A patent/CN108750047A/en not_active Withdrawn
- 2017-07-31 CN CN201810556640.9A patent/CN108791770A/en not_active Withdrawn
- 2017-07-31 CN CN201810556663.XA patent/CN108839778A/en not_active Withdrawn
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108839778A (en) | 2018-11-20 |
| CN107434017B (en) | 2018-06-26 |
| CN108791770A (en) | 2018-11-13 |
| CN108750047A (en) | 2018-11-06 |
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