CN108839778A - There are two the portable robots of folding landing leg for a kind of tool - Google Patents
There are two the portable robots of folding landing leg for a kind of tool Download PDFInfo
- Publication number
- CN108839778A CN108839778A CN201810556663.XA CN201810556663A CN108839778A CN 108839778 A CN108839778 A CN 108839778A CN 201810556663 A CN201810556663 A CN 201810556663A CN 108839778 A CN108839778 A CN 108839778A
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- Prior art keywords
- drive rod
- bar
- horizontal
- driving
- vertical slide
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Classifications
-
- 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
-
- 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 tool, there are two the portable robots of folding landing leg, including ontology and supporting mechanism；Ontology includes shell；Supporting mechanism includes folding landing leg and stretching, extension driving mechanism；Each folding landing leg includes for itself to be limited the mounting rod on shell and is used to drive the drive rod of pulls or folding；Stretching, extension driving mechanism includes the two driving output shafts and two transmission components rotated synchronously；Each transmission component includes driving gear, driven gear component, vertical slide bar, horizontal drive bar assembly and for providing the reset spring of reseting elasticity for vertical slide bar；When each driving gear rotates, driving tooth wheel portion drives corresponding driven gear rotation by driven tooth wheel portion, and then a corresponding vertical slide bar is driven to move up and down by the involute helicla flute on driven gear, and then horizontal drive bar and drive rod is driven 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 fields, and in particular to there are two the portable robots of folding landing leg for a kind of tool.
Background technique
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 is to increase mobile module under water on the basis of video camera, to complete autonomous
Mobile or controlled movement.
Patent document CN201733377U discloses a kind of Underwater Camera, including seal casinghousing, video camera mould group, and
Control the control panel of motor rotation；It is horizontally installed with first gear disk in the seal casinghousing and drives first tooth
First driving motor of wheel disc rotation；The first gear disk center is provided with the conducting slip ring of a transmission electric power and signal,
The conducting slip ring at the top of screw and the main support by tightening together；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 equipped in the side wall of the main support
Two toothed discs and the second driving motor for driving the second gear disk rotation；It is negative that one U-shaped is installed in the main support
Bracket, the one side wall of the negative bracket are connect with the second gear disk；The video camera mould group is fixedly mounted on the negative branch
On frame.When the first driving motor drives first gear disc spins, main support will be rotated therewith, and video camera water can be realized
Square to 360 ° of rotation；When the second driving motor drives second gear disc spins, negative bracket can be rotated therewith
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 guarantees the not power down in course of normal operation of video camera mould group, not lossing signal, continuously
Work, while guaranteeing that bracket can continuous 360 degree rotation.This kind of Underwater Camera structure is simple, and video camera can be with horizontal direction
360 degree rotation, vertical direction ± 90 degree rotation, realizes comprehensive observation, widens the underwater visual field.
This kind of Underwater Camera has the following disadvantages：It need to hold or be mounted on and be used on other objects, when it is straight
It connects when sinking under water, transparent ball cover will be made dirty by mud, interfere shooting.
Summary of the invention
The object of the present invention is to provide a kind of tools there are two the portable robot of folding landing leg, two folding landing leg was both
Foldable stretching, extension can approach away from each other again, when storage can by fold two folding landing legs make whole occupied space compared with
Small, two folding landing legs can promote bearing area away from each other to guarantee stability and two fold branch when work
Leg supports ontology from mud bottom.
Realizing the technical solution of the object of the invention is：There are two the portable robots of folding landing leg for a kind of tool, including this
Body and supporting mechanism；Ontology includes shell；Supporting mechanism includes folding landing leg and stretching, extension driving mechanism；Each folding landing leg includes using
In by itself mounting rod of the limit on shell and the drive rod for being used to drive pulls or folding；Each mounting rod is along level side
To being slidably arranged on shell wall body；
Stretching, extension driving mechanism includes the two driving output shafts and two transmission components rotated synchronously；Each transmission component includes actively
Gear, driven gear component, vertical slide bar, horizontal drive bar assembly and for providing the reset bullet of reseting elasticity for vertical slide bar
Spring；
Driving gear includes driving tooth wheel portion and horizontal stud portion, and driving tooth wheel portion is fixed at corresponding driving output shaft
On, and the reciprocating rotation on vertical guide；Each mounting rod is equipped with and the horizontal screw hole of horizontal stud portion adaptation, and horizontal stud portion is located at
In the horizontal screw hole 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 actuating arm assembly are respectively connected with the drive rod in a corresponding folding landing leg；Case top has lead there are two setting
The vertical casing of vertical slide opening, each vertical slide bar are located in a corresponding vertical slide opening and can up and down reciprocatingly slide；Each vertical slide bar
Top be equipped with the interconnecting piece being connected with main drive rod, the bottom end of each vertical slide bar is equipped with for intercalation in involute helical groove portion
Groove in guide and limit portion；Each reset 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 corresponding driven gear rotation, Jin Ertong by driven tooth wheel portion
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 above scheme, ontology further includes the photographing module being built in shell.
In above scheme, shaft includes two evagination slide-bars positioned at driving gear two sides；It is fixed in shell more
A limit sliding sleeve with limit slide opening, the limit that the evagination slide-bar of each driven gear is located at corresponding limit sliding sleeve are sliding
Kong Zhong；Each driven gear can reciprocatingly slide along limit slide opening.
In above scheme, horizontal drive bar assembly includes main drive rod and two secondary drivings positioned at main drive rod two sides
Bar, main drive rod and secondary drive rod are horizontally disposed, and the outboard end of each pair 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 pillar of evagination, the side of the main drive rod of adjoining of each pair drive rod
End is equipped with center slide opening, and each sliding pillar is inserted into a corresponding center slide opening and can reciprocatingly slide along the center slide opening.
In above scheme, folding landing leg further includes that the complex wrapping frame formed and complex wrapping frame are combined by multiple X-frames
The support leg X-frame of middle the top one connected V-arrangement interlocking bar and be 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 rod is set along plumb line direction
It sets；The bottom end of drive rod and the hinged end of a corresponding V-arrangement interlocking bar are rotatedly connected.
The present invention has the effect of positive：（1）Two folding landing legs folding extension but also can approach away from each other, store
When whole occupied space can be made smaller by folding two folding landing legs, when work two folding landing legs can away from each other from
And bearing area is promoted to guarantee stability, and two folding landing leg of tensible supports ontology prevents the dirty transparent sight of sludge from mud bottom
Examine window.（2）Stretching, extension driving mechanism pushes vertical slide bar to move up it by using involute helical groove portion, and utilizes reset spring
Pushing vertical slide bar moves down it, to realize moving back and forth up and down for vertical slide bar.
Detailed description of the invention
Fig. 1 is a kind of schematic perspective view that the present invention is in folded state；
Fig. 2 be Fig. 1 shown in robot from another angle when a kind of schematic perspective view；
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 schematic perspective view that robot shown in Fig. 1 is in extended state.
Appended drawing reference is：
Shell 1, hemispherical observation window 11, horizontal slide opening 12, vertical casing 13, vertical slide opening 131 limit sliding sleeve 14, and limit is slided
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 interlocking bar 32, drive rod 33, mounting rod 34, horizontal screw hole 341, support leg 35, kidney-shaped slide opening 351 roll pin shaft 352, increase
Driving mechanism 4 is stretched in strong link assembly 36, first connecting rod 361, second connecting rod 363, traveller portion 364, stretches driving 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 pillar 542, secondary drive rod 543, in
Heart slide opening 544, annular bar portion 545, reset spring 55, propeller driving mechanism 6, screw blade 61, blade driving motor 62, paddle
Leaf drive rod 63.
Specific embodiment
（Embodiment 1）
The present embodiment is a kind of robot, as shown in Fig. 1 to Fig. 5, including ontology, supporting mechanism and propeller driving mechanism 6；This
Body includes shell 1 and the photographing module 2 that is built in shell；Supporting mechanism includes two folding landing legs that hull outside is arranged in
3 and the stretching, extension driving mechanism 4 for driving two folding landing leg synchronous extensions or folding.
The lower part of shell is equipped with transparent hemispherical observation window 11；Photographing module includes being built in shell to have driving
The cradle head mechanism 21 of motor 211, the camera 22 being arranged on cradle head mechanism and the headlamp being arranged on cradle head mechanism（On figure
It is not drawn into）.Camera 22 is fixed at 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
An X-frame 311 connected V-arrangement interlocking bar 32 above, the drive rod 33, the mounting rod 34 that are connected with V-arrangement interlocking bar center of rotation
And the support leg 35 below complex wrapping frame is set；
Each X-frame 311 is to be hinged and connected to be formed by respective middle part by two frame plates 30, in two adjacent X-frames, above
The top of two frame plates of the bottom end of two frame plates of one X-frame and a following X-frame is rotatedly connected；
Horizontal slide opening 12 there are two setting on the wall body of shell opposite sides, each mounting rod 34 is to be slidably arranged in a corresponding level
Expose shell in the outer end of horizontal sliding bar in slide opening, 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, which 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 makes each mounting rod can be in a corresponding horizontal slide opening
It reciprocatingly slides in the horizontal direction.
V-arrangement interlocking bar is that the combination that is rotatedly connected by the abutting end of two frame plates 30 is formed namely two framves of V-arrangement interlocking bar
The abutting end of plate forms hinged end；The top of two frame plates of one X-frame in the top and V-arrangement interlocking bar in each complex wrapping frame
In the bottom ends of two frame plates be rotatedly connected；
Drive rod is arranged along plumb line direction；The bottom end of drive rod and the hinged end of a corresponding V-arrangement interlocking bar are rotatedly connected, this
In embodiment, the bottom end of two frame plates and a corresponding drive rod is hinged and connected with what a pin shaft was realized in V-arrangement interlocking bar.
Support leg is equipped with horizontal-extending kidney-shaped slide opening 351, two of a bottom X-frame in each complex wrapping frame
Frame plate, the bottom end of one of frame plate and support leg are rotatedly connected, and the bottom end of another frame plate is equipped with horizontal direction and rolls pin shaft
352, which is located in a corresponding kidney-shaped slide opening；When the complex wrapping frame stretches or folds, pin shaft edge is rolled
The sliding of kidney-shaped slide opening.
In order to increase the intensity and stability of two folding landing legs, two enhancing connection rod sets are additionally provided between two support legs
Part 36.Each enhancing link assembly includes the first connecting rod 361 being fixed in a support leg and is fixed at another
Second connecting rod 363 in support leg, first connecting rod are equipped with slide opening portion, and second connecting rod is equipped with traveller portion 364, the traveller of second connecting rod
Portion is located in the slide opening portion of first connecting rod.This structure make two folding landing legs away from each other when, the traveller portion of second connecting rod is still
In the slide opening of first connecting rod, namely make 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 driving mechanism 4 includes a stretching, extension driving motor 41 and two transmission components 5, and stretching, extension driving motor passes through two
Two drive rods 33 of a transmission component synchronous drive are moved back and forth along plumb line direction.
Stretching, extension driving motor 41 is a double shaft-protruding type motor, and the both ends of drive shaft 411 are stretched out outside motor, thus
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 for providing the reset spring 55 of 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 fixed at a corresponding drive
On dynamic output shaft, and the reciprocating rotation on vertical guide；One side of each mounting rod close to stretching, extension driving motor is equipped with and horizontal spiral shell
The horizontal screw hole 341 of column portion adaptation, horizontal stud portion is located in the horizontal screw hole 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 the two moves synchronously；When driving gear is extended driving motor
When 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 two sides of two mounting rods towards shells elongate or shorten, to drive two folding landing legs mutual
Away from or approaching.
Case top set there are two with vertical slide opening 131 vertical casing 13.
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 close to the side of stretching, extension driving motor, and involute helical groove portion is located at driving tooth
The other side of wheel, shaft include two evagination slide-bars 524 positioned at driven gear two sides；In the present embodiment, driven tooth wheel portion
521, involute helical groove portion 522 and shaft 523 are made into integration.
Multiple limit sliding sleeves 14 with limit slide opening 141, the evagination slide-bar point of each driven gear are fixed in shell
Not Wei Yu it is corresponding one limit sliding sleeve limit slide opening in；Each evagination slide-bar can rotate in limit slide opening and sliding.This knot
Structure can make each driven gear not only roll along limit slide opening, but also can be in the horizontal direction in limit slide opening toward polyslip.
When each driving gear rotates, by driving the rotation of driven tooth wheel portion, and then corresponding driven gear rotation is driven,
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, to prevent liquid
It is entered in shell through slide opening.
Horizontal drive bar assembly includes main drive rod 541 and two secondary drive rods 543 positioned at main drive rod two sides, main drive
Lever and secondary drive rod are horizontally disposed, and the outboard end of each pair drive rod passes through pin and a corresponding drive rod phase
Even；The two side ends of main drive rod are equipped with the sliding pillar 542 of evagination, and a side of the main drive rod of adjoining of each pair drive rod is set
There is center slide opening 544, each sliding pillar is inserted into a corresponding center slide opening and can reciprocatingly slide along the center slide opening.Namely main drive
Lever and two secondary drive rods form telescopic connection.When the two sides of two mounting rods towards shells elongate or shorten, by
It can reciprocatingly slide along the center slide opening of secondary drive rod in the sliding pillar of main 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 shell.
Each vertical slide bar is located in the vertical slide opening of a corresponding vertical casing, and can up and down reciprocatingly slide along vertical slide opening
It is dynamic；The top of each vertical slide bar is equipped with the interconnecting piece 531 being connected with main drive rod, and the bottom end of each vertical slide bar is equipped with guide and limit
The involute helical groove portion of portion 532, the shape in the guide and limit portion and a corresponding driven gear is adapted to, so that the guiding
Limiting section can be with intercalation in the groove of involute helical groove portion；In the present embodiment, which is one and is set in main driving
Lantern ring on bar.
Each reset spring is set on a corresponding vertical slide bar, for providing downward reseting elasticity for vertical slide bar,
So that the bottom end of the vertical slide bar is crimped on always in the groove of corresponding involute helical groove portion, prevent the vertical slide bar and from
Moving gear is detached from.In the present embodiment, a baffle ring is fixed on the outer wall of vertical slide bar, the top of reset spring is connected to lead
It hangs down on casing, the bottom end of reset spring is connected on baffle ring, which is compressed spring.
When driven gear rotation when, due to a corresponding vertical slide bar bottom end intercalation always and be crimped on the driven gear
Involute helical groove portion groove in, and since vertical slide bar is by vertical casing limit, central shaft line position is constant；So
So that the driven gear reciprocatingly slides along the limit 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
It moves down, and then the drive rod 33 in Foldable supporting leg.
In the present embodiment, stretches two driving gear of driving motor synchronous drive and two driven gears rotate synchronously, two water
Flat stud portion drives two mounting rods to synchronize overhanging along horizontal slide opening or inside contract, and then drives two secondary drivings by folding landing leg
Bar is overhanging or inside contracts, so that the distance between two folding landing legs increased or decrease；It is whole when the spacing of two folding landing legs increases
It is relatively stable, it is not easy to shake；When the spacing of two folding landing legs reduces, whole occupied space reduces, 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 rod in supporting leg moves up or declines；When drive rod moves up or declines, the V-arrangement interlocking bar of Foldable supporting leg, due to each folding
The X-frame of the top one of folded supporting leg is mounted on mounting rod, so stretching or pressure of the entire folding landing leg with V-arrangement interlocking bar
It contracts and stretches or fold up；When folding landing leg full extension, support leg is displaced downwardly to more than housing bottom, thus by shell branch
It props up and, hemispherical observation window is allowed to be higher by underwater mud face；When folding landing leg is folded, whole occupied space compared with
It is small, it is easy to carry about with one.
Propeller driving mechanism 6 includes that screw blade 61, the blade of setting in the housing right above shell drive
Motor 62 and the blade drive rod 63 being rotatably arranged in housing top wall；Blade driving motor drives spiral by blade drive rod
Paddle reciprocating rotation；Since horizontal drive bar assembly is also in the surface of shell, in order to avoid horizontal drive bar assembly interferes spiral
The aperture of the annular bar portion 545 that the middle part of paddle rotation, main drive rod has and propeller is arranged concentrically, the annular bar portion is greater than spiral shell
Revolve the maximum outside diameter of blade.This structure interfere the two will not each other, guarantee respectively to operate normally.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.And these
Belong to the obvious changes or variations that connotation of the invention is extended out and still falls within protection scope of the present invention.
Claims (3)
1. there are two the portable robots of folding landing leg, including ontology and supporting mechanism for a kind of tool；Ontology includes shell；It is special
Sign is：Supporting mechanism includes folding landing leg and stretching, extension driving mechanism；
Each folding landing leg includes for itself to be limited the mounting rod on shell and is used to drive the biography of pulls or folding
Lever；Each mounting rod is slidably arranged in the horizontal direction on shell wall body；
Stretching, extension driving mechanism includes the two driving output shafts and two transmission components rotated synchronously；Each transmission component includes actively
Gear, driven gear component, vertical slide bar, horizontal drive bar assembly and for providing the reset bullet of reseting elasticity for vertical slide bar
Spring；
Driving gear includes driving tooth wheel portion and horizontal stud portion, and driving tooth wheel portion is fixed at corresponding driving output shaft
On, and the reciprocating rotation on vertical guide；Each mounting rod is equipped with and the horizontal screw hole of horizontal stud portion adaptation, and horizontal stud portion is located at
In the horizontal screw hole 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 respectively connected with the drive rod in a corresponding folding landing leg；
Case top is set there are two the vertical casing with vertical slide opening, and each vertical slide bar is located in a corresponding vertical slide opening simultaneously
It can up and down reciprocatingly slide；
Horizontal drive bar assembly includes main drive rod and two secondary drive rods positioned at main drive rod two sides, and main drive rod and pair are driven
Lever is horizontally disposed, and the outboard end of each pair drive rod is connected by pin with a corresponding drive rod；Main drive rod
Two side ends be equipped with the sliding pillar of evagination, a side of the main drive rod of adjoining of each pair drive rod is equipped with center slide opening, respectively
Sliding pillar is inserted into a corresponding center slide opening and can reciprocatingly slide along the center slide opening；
The top of each vertical slide bar is equipped with the interconnecting piece being connected with main drive rod, and the bottom end of each vertical slide bar is equipped with to exist for intercalation
Guide and limit portion in the groove of involute helical groove portion；Each reset 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 corresponding driven gear rotation, Jin Ertong by driven tooth wheel portion
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；
Propeller driving mechanism includes screw blade right above the shell, setting blade driving motor in the housing and turns
The dynamic blade drive rod being arranged in housing top wall；Blade driving motor drives propeller reciprocating rotation by blade drive rod；
The aperture of the annular bar portion that the middle part of main drive rod has and propeller is arranged concentrically, the annular bar portion is greater than screw blade most
Big outer diameter.
2. there are two the portable robots of folding landing leg for tool according to claim 1, it is characterised in that：Ontology further includes
The photographing module being built in shell；Shaft includes two evagination slide-bars positioned at driven gear two sides；Fixation is set in shell
There are multiple limit sliding sleeves with limit slide opening, the evagination slide-bar of each driven gear is located at the limit of corresponding limit sliding sleeve
In the slide opening of position；Each driven gear can reciprocatingly slide along limit slide opening.
3. there are two the portable robots of folding landing leg for tool according to claim 2, it is characterised in that：Folding landing leg is also
Including combining the complex wrapping frame formed by multiple X-frames, joining with the V-arrangement that topmost an X-frame is connected in complex wrapping frame
Lever and the support leg being connected with complex wrapping frame bottom；Each uppermost X-frame of complex wrapping frame passes through a pin
Nail is rotatably arranged on a corresponding mounting rod；Drive rod is arranged along plumb line direction；The bottom end of drive rod and a corresponding V-arrangement
The hinged end of interlocking bar is rotatedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710641139.8A Division CN107434017B (en) | 2017-07-31 | 2017-07-31 | A kind of portable robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108839778A true CN108839778A (en) | 2018-11-20 |
Family
ID=60460918
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810552862.3A Withdrawn CN108750047A (en) | 2017-07-31 | 2017-07-31 | A kind of 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 |
| CN201710641139.8A Active CN107434017B (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 |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810552862.3A Withdrawn CN108750047A (en) | 2017-07-31 | 2017-07-31 | A kind of portable robot |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710641139.8A Active CN107434017B (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 |
Country Status (1)
| Country | Link |
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| CN (4) | CN108750047A (en) |
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| CN102705632A (en) * | 2012-05-30 | 2012-10-03 | 浙江理工大学 | Bionic robot capable of extending to avoid obstacles |
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- 2017-07-31 CN CN201810556663.XA patent/CN108839778A/en not_active Withdrawn
- 2017-07-31 CN CN201710641139.8A patent/CN107434017B/en active Active
- 2017-07-31 CN CN201810556640.9A patent/CN108791770A/en not_active Withdrawn
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| ES2544007A1 (en) * | 2014-02-25 | 2015-08-26 | Universidad Politécnica de Madrid | Transformable humanoid submarine robot (Machine-translation by Google Translate, not legally binding) |
| CN104589312A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Gear-driven swingable parallel electric cylinder synchronous telescoping mechanism |
| CN205111837U (en) * | 2015-10-31 | 2016-03-30 | 吉林江机特种工业有限公司 | Explosive ordnance disposal mechanical hand |
| CN105563466A (en) * | 2016-01-28 | 2016-05-11 | 燕山大学 | Three-degree-of-freedom parallel attitude-adjusting and vibration-isolating platform comprising tower-shaped telescopic branches |
| CN106628072A (en) * | 2016-09-30 | 2017-05-10 | 哈尔滨工程大学 | Bionic multi-navigation-state deep unmanned submersible |
| CN106737578A (en) * | 2016-12-15 | 2017-05-31 | 山东大学 | A kind of quadruped robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108791770A (en) | 2018-11-13 |
| CN107434017A (en) | 2017-12-05 |
| CN107434017B (en) | 2018-06-26 |
| CN108750047A (en) | 2018-11-06 |
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