CN108000476A

CN108000476A - A kind of split type robot

Info

Publication number: CN108000476A
Application number: CN201711243299.3A
Authority: CN
Inventors: 陈益敏
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-11-30
Filing date: 2017-11-30
Publication date: 2018-05-08

Abstract

The invention discloses a kind of split type robot, the upper surface of the back wall is equipped with motor cabinet, the lower surface of the motor cabinet is connected with the upper surface of back wall, stent is equipped with left and right sides of the motor cabinet, the lower surface of the stent is connected with the upper surface of back wall, the top of the stent is equipped with top plate, and the lower surface of the top plate is connected with the upper surface of stent, and the lower section of the back wall is equipped with rear wheel.The split type robot, by passing through the cooperation between back wall, stent and top plate, drive connecting seat to be moved on slide bar, the displacement distance of cantilever is adjusted, so as to overcome the shortcomings that conventional two-piece robot cannot capture or clear up barrier, pass through the cooperation between the first motor, second gear and rack, under the action of slideway, the vertical crawl distance of handgrip can be adjusted, so as to overcome conventional two-piece robot, the shortcomings that crawl distance cannot be adjusted, is adapted to promote and apply.

Description

A kind of split type robot

Technical field

The present invention relates to machining techniques field, is specially a kind of split type robot.

Background technology

The reason for industrial robot stable development, be not only in that labor cost problem, lies also in high-end precision intelligence Manufacture it is inherently required, while also bear and make the history that the mankind free from heavy, dangerous, repeated labor Life, world industry robot installation rapid growth in recent years, its reason be on the one hand developed country draw global financial crisis, European sovereign debt crisis lesson, implements reindustrialization strategy, is on the other hand then to have benefited from Chinese industrial robot market to need The rapid growth asked, mobile robot can substitute the action for completing to specify in special workplace, but at certain In a little working environments, due to operation interval or the particularity of action, the work of existing integral type robot is limited Carry out, in the prior art, such as Application No. 201521070112.0 patent of invention include the first housing, the second housing, Split attachment device, split release unit, crawler attachment, pulley device, control cabinet, supply unit, the first housing, Supply unit and control cabinet are mounted on two bodies, the first housing connects dress with the second housing by the split Put connection and link position is provided with split release unit, the control cabinet and supply unit and depart from dress with the split Put, the connection of crawler attachment, pulley device, the first housing is provided with crawler attachment, and the second housing is provided with away Wheel apparatus, is provided with main control computer, integrated sensor, radio communication device in the control cabinet, and the invention is although simple in structure, But there are many deficiencies and defect, in existing equipment, the design existing defects of leading screw, leading screw and the first housing and the second machine The connection of body cannot provide one stable environment to be overall, and pulley device can not travel direction adjusting, for these situations, To avoid above-mentioned technical problem, it is necessory to provide a kind of split type robot to overcome the defect of the prior art.

The content of the invention

It is an object of the invention to provide a kind of split type robot, to solve the problems mentioned in the above background technology.

To achieve the above object, the present invention provides following technical solution：A kind of split type robot, including back wall, institute The upper surface for stating back wall is equipped with motor cabinet, and the lower surface of the motor cabinet is connected with the upper surface of back wall, the motor cabinet The left and right sides be equipped with stent, the lower surface of the stent is connected with the upper surface of back wall, and the top of the stent is equipped with Top plate, the lower surface of the top plate are connected with the upper surface of stent, and the lower section of the back wall is equipped with rear wheel, the rear wheel The outer wall overlap joint of inner wall and back wall be connected, the top of the rear wheel is equipped with the 4th motor, the following table of the 4th motor Face is connected with the upper surface of back wall, and the outer wall of the 4th motor is connected with the inner wall of rear wheel, a left side for the 4th motor Side is equipped with rack, and the lower surface of the rack is connected with the upper surface of back wall, and the top of the rack is equipped with the 3rd motor, institute The lower surface for stating the 3rd motor is connected with the upper surface of rack, and the left side of the 3rd motor is equipped with first gear, and described first The outer right wall of gear is connected with outer wall overlap joint on the left of the 3rd motor, and the top of the first gear is equipped with pull rod, the pull rod Outer wall be connected with the inner wall of the 3rd motor, the left side of the pull rod is equipped with preceding sweep, the upper surface of the preceding sweep and rear car The lower surface overlap joint of plate is connected, and the lower surface of the preceding sweep is provided with front-wheel, the upper surface of the front-wheel with preceding sweep Surface is connected, and the upper surface of the top plate is provided with the second motor, the lower surface of second motor and the upper surface phase of top plate Even, the left side of second motor is equipped with leading screw, and the outer right wall of the leading screw is connected with the left side outer wall of the second motor, described The outer wall of screw is equipped with nut seat, and the inner wall of the nut seat is connected with the outer wall thread of leading screw, the left and right two of the nut seat Side is equipped with sliding sleeve, and the lower surface of the sliding sleeve is connected with the upper surface of top plate, and the inner wall of the sliding sleeve is equipped with slide bar, the cunning The inner wall overlap joint of the outer wall of bar and sliding sleeve is connected, and the outer wall of the slide bar is equipped with sliding slot, the inner wall of the sliding slot and slide bar outside Wall overlap joint is connected, and the top of the sliding slot is equipped with connecting seat, and the lower surface of the connecting seat is connected with the upper surface of sliding slot, described The outer wall of leading screw is connected with the inner thread of connecting seat, and the upper surface of the connecting seat is equipped with contiguous block, under the contiguous block Surface is connected with the upper surface of connecting seat, and the left side of the connecting seat is equipped with cantilever, the outer right wall and connecting seat of the cantilever Left side outer wall be connected, the left side outer wall of the cantilever is equipped with slideway, the outer right wall of the slideway and the left side outer wall of cantilever It is connected, the inner wall of the slideway is equipped with rack, and the left side outer wall of the rack is connected with the right side inner wall overlap joint of slideway, the tooth The inner side of bar is equipped with the first motor, and the outer wall of first motor is connected with the inner wall of slideway, is set on the outside of first motor There is second gear, the inner wall of the second gear is connected with the outer wall of the first motor, the outer wall of the second gear and rack Inner wall engagement is connected, and the lower section of the rack is equipped with handgrip, and the outer wall of the handgrip is connected with rack inner wall, a left side for the pull rod End is equipped with fixing bolt, and the outer wall of the fixing bolt is connected with the inner wall overlap joint of pull rod, and the inner wall of the pull rod is equipped with base, The left side outer wall of the base is equipped with compression spring, and the inner wall of the compression spring is equipped with newel, the outer wall of the newel It is connected with the inner wall overlap joint for compressing spring, the outer wall of the fixing bolt is equipped with connecting pole, and the lower surface of the connecting pole is with before The upper surface of sweep is connected.

Preferably, the upper surface of the connecting seat is equipped with fixed block, the lower surface of the fixed block and the upper table of connecting seat Face is connected.

Preferably, the upper surface of the top plate is equipped with mounting hole, and the outer wall of the mounting hole is connected with the inner wall of top plate.

Preferably, the lower section of the contiguous block is equipped with gasket, and the lower surface of the gasket is connected with the upper surface of preceding sweep.

Compared with prior art, the beneficial effects of the invention are as follows：The split type robot, by passing through back wall, stent Cooperation between top plate, under the action of motor cabinet, the movement and crawl that make robot are more stablized, so as to overcome tradition , the shortcomings that stability is poor, can be by robot point by the cooperation between preceding sweep and back wall when split robot is run It can be captured from as two independent robots, preceding sweep, back wall can carry out loading, so as to overcome tradition point Body robot, it is impossible to which the shortcomings that working independently, by the cooperation between front-wheel and rear wheel, allows the robot to advance and keep away Barrier is opened, so as to overcome the shortcomings that traditional robot cannot adjust route of travel when running into barrier, passes through the second electricity Coordinate between machine, leading screw, connecting seat, slide bar and sliding slot, under the action of sliding sleeve, the second motor drives leading screw to move back and forth, band Dynamic connecting seat moves on slide bar, and the displacement distance of cantilever is adjusted, cannot so as to overcome conventional two-piece robot The shortcomings that crawl or cleaning barrier, by the cooperation between the first motor, second gear and rack, in the effect of slideway Under, the vertical crawl distance of handgrip can be adjusted, so as to overcome conventional two-piece robot, what crawl distance cannot be adjusted lacks Point, is adapted to promote and apply.

Brief description of the drawings

Fig. 1 is schematic structural view of the invention；

Fig. 2 is the structure diagram of rack of the present invention；

Fig. 3 is the structure diagram of present invention compression spring.

In figure：1st, motor cabinet, 2, back wall, 3, stent, 4, top plate, 5, rear wheel, the 6, the 4th motor, 7, rack, 8, Three motors, 9, first gear, 10, pull rod, 11, front-wheel, 12, preceding sweep, the 13, second motor, 14, nut seat, 15, sliding sleeve, 16, Leading screw, 17, slide bar, 18, sliding slot, 19, connecting seat, 20, contiguous block, 21, fixed block, 22, rack, 23, slideway, the 24, first electricity Machine, 25, second gear, 26, cantilever, 27, handgrip, 28, fixing bolt, 29, base, 30, compression spring, 31, newel, 32, Connecting pole, 33, mounting hole, 34, gasket.

Embodiment

Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work Embodiment, belongs to the scope of protection of the invention.

- 3 are please referred to Fig.1, the present invention provides a kind of technical solution：A kind of split type robot, including back wall 2, rear car The material of plate 2 is stainless steel, and for carrying motor, the upper surface of back wall 2 is equipped with motor cabinet 1, and the material of motor cabinet 1 is Stainless steel, for fixing motor, the lower surface of motor cabinet 1 is connected with the upper surface of back wall 2, the left and right two of motor cabinet 1 Side is equipped with stent 3, and the material of stent 3 is stainless steel, for installing and fixing top plate 4, the lower surface of stent 3 and rear car The upper surface of plate 2 is connected, and the top of stent 3 is equipped with top plate 4, and the material of top plate 4 is stainless steel, for installing leading screw 16, The upper surface of top plate 4 is equipped with mounting hole 33, and for installing other equipment, the outer wall of mounting hole 33 is connected with the inner wall of top plate 4, top The lower surface of plate 4 is connected with the upper surface of stent 3, and the lower section of back wall 2 is equipped with rear wheel 5, and rear wheel 5 is used to drive back wall 2 movements, the inner wall of rear wheel 5 are connected with the outer wall overlap joint of back wall 2, and the top of rear wheel 5 is equipped with the 4th motor 6, the 4th electricity The model SF-09-L of machine 6, for driving rear wheel 5 to move, the lower surface of the 4th motor 6 and the upper surface phase of back wall 2 Even, the outer wall of the 4th motor 4 is connected with the inner wall of rear wheel 5, and the left side of the 4th motor 4 is equipped with rack 7, and the material of rack 7 is Stainless steel, for installing the 3rd motor 8, the lower surface of rack 7 is connected with the upper surface of back wall 2, and the top of rack 7 is set There is the 3rd motor 8, the model SF-09-L of the 3rd motor 8, for driving first gear 9 to rotate, the lower surface of the 3rd motor 8 It is connected with the upper surface of rack 7, the left side of the 3rd motor 8 is equipped with first gear 9, and the material of first gear 9 is stainless steel, For driving front-wheel 11 to move, the outer right wall of first gear 9 is connected with 8 left side outer wall overlap joint of the 3rd motor, first gear 9 Top is equipped with pull rod 10, and pull rod 10 is used to be equipped with fixing bolt 28 to preceding 12 anticollision of sweep, the left end of pull rod 10, for the company of connection Joint chair 32, the outer wall of fixing bolt 28 are connected with the inner wall overlap joint of pull rod 10, and the inner wall of pull rod 10 is equipped with base 29, base 29 Material is stainless steel, compresses spring 30 for fixed, the left side outer wall of base 29 is equipped with compression spring 30, compresses spring 30 Material be stainless steel, for preceding sweep 12 carry out anticollision processing, compression spring 30 inner wall be equipped with newel 31, in The material of stem 31 is stainless steel, compresses spring 30 for installing, the inner wall of the outer wall and compression spring 30 of newel 31 Overlap joint is connected, and the outer wall of fixing bolt 28 is equipped with connecting pole 32, and the material of connecting pole 32 is stainless steel, for steady brace 10, the lower surface of connecting pole 32 is connected with the upper surface of preceding sweep 12, and the outer wall of pull rod 10 is connected with the inner wall of the 3rd motor 8, The left side of pull rod 10 is equipped with preceding sweep 12, and the material of preceding sweep 12 is stainless steel, for carrying nut seat 14, preceding sweep 12 The lower surface overlap joint of upper surface and back wall 2 be connected, the lower surface of preceding sweep 12 is provided with front-wheel 11, and front-wheel 11 is for driving Preceding sweep 12 moves, and the upper surface of front-wheel 11 is connected with the lower surface of preceding sweep 12, and the upper surface of top plate 4 is provided with the second motor 13, the model SF-09-L of the second motor 13, for driving leading screw 16 and connecting seat 19 to move, the lower surface of the second motor 13 It is connected with the upper surface of top plate 4, the left side of the second motor 13 is equipped with leading screw 16, and the material of screw 16 is stainless steel, is used for Connecting seat 19 is driven to move, the outer right wall of leading screw 16 is connected with the left side outer wall of the second motor 13, and the outer wall of screw 16 is equipped with Nut seat 14, the material of nut seat 14 is stainless steel, for adjusting the distance of cantilever 26, the inner wall and leading screw of nut seat 14 16 outer wall thread is connected, and the left and right sides of nut seat 14 is equipped with sliding sleeve 15, and sliding sleeve 15 is used for slide bar 17 and is slided in its inner wall, The lower surface of sliding sleeve 15 is connected with the upper surface of top plate 4, and the inner wall of sliding sleeve 15 is equipped with slide bar 17, and the material of slide bar 17 is stainless steel Material, for driving connecting seat 19 to move, the outer wall of slide bar 17 is connected with the inner wall overlap joint of sliding sleeve 15, and the outer wall of slide bar 17 is equipped with Sliding slot 18, sliding slot 18 are used for band moving slide-bar 17 and move, and the inner wall of sliding slot 18 is overlapped with the outer wall of slide bar 17 to be connected, sliding slot 18 it is upper Side is equipped with connecting seat 19, and the material of connecting seat 19 is stainless steel, and for connecting cantilever 26, the upper surface of connecting seat 19 is equipped with Fixed block 21, the material of fixed block 21 is stainless steel, is reinforced for the connection to cantilever 26 and connecting seat 19, fixed The lower surface of block 21 is connected with the upper surface of connecting seat 19, and the lower surface of connecting seat 19 is connected with the upper surface of sliding slot 18, leading screw 16 outer wall is connected with the inner thread of connecting seat 19, and the upper surface of connecting seat 19 is equipped with contiguous block 20, the material of contiguous block 20 For stainless steel, for connecting cantilever 26, the lower section of contiguous block 20 is equipped with gasket 34, and the material of gasket 34 is PVC material, uses In increase frictional force, the lower surface of gasket 34 is connected with the upper surface of preceding sweep 12, lower surface and the connecting seat 19 of contiguous block 20 Upper surface be connected, the left side of connecting seat 19 is equipped with cantilever 26, and the material of cantilever 26 is stainless steel, for driving handgrip 27 Mobile, the outer right wall of cantilever 26 is connected with the left side outer wall of connecting seat 19, and the left side outer wall of cantilever 26 is equipped with slideway 23, slideway 23 material is stainless steel, for installing and fixing rack 22, the outer right wall of slideway 23 and the left side outer wall of cantilever 26 It is connected, the inner wall of slideway 23 is equipped with rack 22, and the material of rack 22 is stainless steel, for driving handgrip 27 to move, rack 22 left side outer wall is connected with the right side inner wall overlap joint of slideway 23, and the inner side of rack 22 is equipped with the first motor 24, the first motor 24 Model SF-09-L, for adjusting the crawl distance of handgrip 27, the outer wall of the first motor 24 is connected with the inner wall of slideway 23, Connection for making the first motor 24 is more stablized, and the outside of the first motor 24 is equipped with second gear 25, the material of second gear 25 Matter is stainless steel, and for coordinating the first motor 24 to rotate, the inner wall of second gear 25 is connected with the outer wall of the first motor 24, Connection for making second gear 25 is more stablized, and the outer wall of second gear 25 is engaged with the inner wall of rack 22 to be connected, by nibbling The mode of conjunction makes the gear teeth in second gear 25 be connected with the double wedge on rack 22 and forms gearing, and the lower section of rack 22, which is equipped with, grabs Hand 27, the material of handgrip 22 is stainless steel, for being cleared up barrier or being arranged, the outer wall and rack of handgrip 27 22 inner walls are connected, and the connection for making handgrip 27 is more stablized.

In some working environments, due to operation interval or the particularity of action, it is necessary to use split type machine People, the present invention provide a split type robot, the split type robot by motor cabinet 1, back wall 2, stent 3, top plate 4, after Wheel 5, the 4th motor 6, rack 7, the 3rd motor 8, first gear 9, pull rod 10, front-wheel 11, preceding sweep 12, the second motor 13, The components such as second gear 25, the first motor 24 and rack 22 form, and during using the split type robot, connect the electricity of the robot Source, the 4th motor 6 drive back wall 2 to move, and while back wall 2 moves, drive the preceding sweep 12 being attached thereto together to move, Work is transported or is cleared, when robot runs into barrier, the second motor 13 rotates, and drives the leading screw 16 being attached thereto Rotate, while leading screw 16 rotates, promote the nut seat 14 being connected with leading screw 16 to move, nut seat 14 moves drive and is attached thereto Sliding sleeve 15 together move, sliding sleeve 15 movement drive connecting seat 19 together promoted, the contiguous block 20 being fixed on connecting seat 19 Connecting cantilever 26, which is formed, to be interlocked, and cantilever 26 is together promoted, and handgrip 27 is just hovered over the top of barrier, the first motor 24 Rotate and drive second gear 25 to rotate, connected while second gear 25 rotates by engaging, band carry-over bar 22 moves down, will Handgrip 27 transfers to the distance that can grab barrier, captures barrier using handgrip 27, completes the cleaning or whole of barrier Science and engineering is made, and when running into narrow space, back wall 2 cannot enter, and can separate back wall 2 with preceding sweep 12, before use Sweep 12 individually carry the second motor 13, nut seat 14, sliding sleeve 15, cantilever 26, connecting seat 19, second gear 25 and handgrip 27 into Row crawl, under the drive of the 3rd motor 8, drives first gear 9 to promote front-wheel 11 to complete operation.

In the description of the present invention, it is to be understood that term " coaxial ", " bottom ", " one end ", " top ", " middle part ", " other end ", " on ", " side ", " top ", " interior ", " front portion ", " center ", the orientation of the instruction such as " both ends " or position relationship be Based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than instruction or dark Show that the device of meaning or element there must be specific orientation, with specific azimuth configuration and operation, thus it is it is not intended that right The limitation of the present invention.

In the present invention, unless otherwise clearly defined and limited, term " installation ", " setting ", " connection ", " fixation ", Terms such as " being screwed on " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be with It is to mechanically connect or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can be two The interaction relationship of connection or two elements inside a element, unless otherwise restricted clearly, for the common of this area For technical staff, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.

Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of changes, modification, replace And modification, the scope of the present invention is defined by the appended.

Claims

1. a kind of split type robot, including back wall (2), it is characterised in that：The upper surface of the back wall (2) is equipped with motor Seat (1), the lower surface of the motor cabinet (1) are connected with the upper surface of back wall (2), and the left and right sides of the motor cabinet (1) is equal Equipped with stent (3), the lower surface of the stent (3) is connected with the upper surface of back wall (2), and the top of the stent (3) is equipped with Top plate (4), the lower surface of the top plate (4) are connected with the upper surface of stent (3), and the lower section of the back wall (2) is equipped with rear car Take turns (5), the inner wall of the rear wheel (5) is connected with the outer wall overlap joint of back wall (2), and the top of the rear wheel (5) is equipped with the Four motors (6), the lower surface of the 4th motor (6) are connected with the upper surface of back wall (2), outside the 4th motor (4) Wall is connected with the inner wall of rear wheel (5), and the left side of the 4th motor (4) is equipped with rack (7), the lower surface of the rack (7) It is connected with the upper surface of back wall (2), the top of the rack (7) is equipped with the 3rd motor (8), under the 3rd motor (8) Surface is connected with the upper surface of rack (7), and the left side of the 3rd motor (8) is equipped with first gear (9), the first gear (9) outer right wall is connected with outer wall overlap joint on the left of the 3rd motor (8), and the top of the first gear (9) is equipped with pull rod (10), The outer wall of the pull rod (10) is connected with the inner wall of the 3rd motor (8), and the left side of the pull rod (10) is equipped with preceding sweep (12), institute State the upper surface of preceding sweep (12) with the lower surface overlap joint of back wall (2) to be connected, the lower surface of the preceding sweep (12) is provided with Front-wheel (11), the upper surface of the front-wheel (11) are connected with the lower surface of preceding sweep (12), the upper surface installation of the top plate (4) There is the second motor (13), the lower surface of second motor (13) is connected with the upper surface of top plate (4), second motor (13) Left side be equipped with leading screw (16), the outer right wall of the leading screw (16) is connected with the left side outer wall of the second motor (13), the silk The outer wall of bar (16) is equipped with nut seat (14), and the inner wall of the nut seat (14) is connected with the outer wall thread of leading screw (16), described Sliding sleeve (15) is equipped with left and right sides of nut seat (14), the lower surface of the sliding sleeve (15) is connected with the upper surface of top plate (4), The inner wall of the sliding sleeve (15) is equipped with slide bar (17), and the outer wall of the slide bar (17) is connected with the inner wall overlap joint of sliding sleeve (15), institute The outer wall for stating slide bar (17) is equipped with sliding slot (18), and the inner wall of the sliding slot (18) is connected with the outer wall overlap joint of slide bar (17), described The top of sliding slot (18) is equipped with connecting seat (19), and the lower surface of the connecting seat (19) is connected with the upper surface of sliding slot (18), institute The outer wall for stating leading screw (16) is connected with the inner thread of connecting seat (19), and the upper surface of the connecting seat (19) is equipped with contiguous block (20), the lower surface of the contiguous block (20) is connected with the upper surface of connecting seat (19), and the left side of the connecting seat (19) is equipped with Cantilever (26), the outer right wall of the cantilever (26) are connected with the left side outer wall of connecting seat (19), the left side of the cantilever (26) Outer wall is equipped with slideway (23), and the outer right wall of the slideway (23) is connected with the left side outer wall of cantilever (26), the slideway (23) Inner wall be equipped with rack (22), the left side outer wall of the rack (22) is connected with the right side inner wall overlap joint of slideway (23), the tooth The inner side of bar (22) is equipped with the first motor (24), and the outer wall of first motor (24) is connected with the inner wall of slideway (23), described The outside of first motor (24) is equipped with second gear (25), the inner wall of the second gear (25) and the outer wall of the first motor (24) It is connected, the outer wall of the second gear (25) is engaged with the inner wall of rack (22) to be connected, and the lower section of the rack (22), which is equipped with, grabs Hand (27), the outer wall of the handgrip (27) are connected with rack (22) inner wall, and the left end of the pull rod (10) is equipped with fixing bolt (28), the outer wall of the fixing bolt (28) is connected with the inner wall overlap joint of pull rod (10), and the inner wall of the pull rod (10) is equipped with bottom Seat (29), the left side outer wall of the base (29) are equipped with compression spring (30), and the inner wall of the compression spring (30) is equipped with center Column (31), the outer wall of the newel (31) is connected with the inner wall overlap joint of compression spring (30), outside the fixing bolt (28) Wall is equipped with connecting pole (32), and the lower surface of the connecting pole (32) is connected with the upper surface of preceding sweep (12).

A kind of 2. split type robot according to claim 1, it is characterised in that：The upper surface of the connecting seat (19) is set There is fixed block (21), the lower surface of the fixed block (21) is connected with the upper surface of connecting seat (19).

A kind of 3. split type robot according to claim 1, it is characterised in that：The upper surface of the top plate (4) is equipped with Mounting hole (33), the outer wall of the mounting hole (33) are connected with the inner wall of top plate (4).

A kind of 4. split type robot according to claim 1, it is characterised in that：The lower section of the contiguous block (20) is equipped with Gasket (34), the lower surface of the gasket (34) are connected with the upper surface of preceding sweep (12).