CN110053015A - A kind of split type crusing robot - Google Patents
A kind of split type crusing robot Download PDFInfo
- Publication number
- CN110053015A CN110053015A CN201910416874.8A CN201910416874A CN110053015A CN 110053015 A CN110053015 A CN 110053015A CN 201910416874 A CN201910416874 A CN 201910416874A CN 110053015 A CN110053015 A CN 110053015A
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- China
- Prior art keywords
- wheel assembly
- slave
- host
- idler wheel
- wheel
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The present invention provides a kind of split type crusing robots, including host and slave, host and slave pass through Quick Release Kuai Lian mechanism realization locking and unlocking, Quick Release Kuai Lian mechanism includes the first wheel assembly being set on host, first wheel assembly includes the first idler wheel, first wheel assembly is configured to stretching structure to realize the lifting of the first idler wheel, it further include the fit structure being set on slave, under the contraction state of the first wheel assembly, first wheel assembly and fit structure cooperation will lock between host and slave, under the stretched condition of the first wheel assembly, it is unlocked between host and slave.Quick Release Kuai Lian mechanism realizes the locking and unlocking between two parts using the cooperation of the stretching structure on the traveling wheel of a portion and another part, on the one hand structure is simplified, structure is relatively reliable, it is hardly damaged, prolong the service life, on the other hand a part of traveling wheel can be made to increase, when two parts link together to improve traveling stationarity of the split type robot in lock state.
Description
Technical field
The present invention relates to robot fields, in particular to a kind of split type crusing robot.
Background technique
Multi-faceted inspection is carried out in order to facilitate crusing robot, the prior art proposes that it is seperated to set crusing robot to
Structure, it is each fission unit between using automatic fastening realize locking and unlocking.
There are the following problems for existing structure:
1. needing especially to be arranged this automatic fastening structure, structure is complicated, improves cost；
2. frequent locking and unlocking movement is very easy to lead to the damage of buckle.
Summary of the invention
The present invention is intended to provide a kind of split type crusing robot, to solve existing split type robot using automatic clamping
Mouth structure complexity, problem easy to damage.
The present invention provides a kind of split type crusing robot, including host and slave, the host and slave pass through fastly
Chai Kuailian mechanism realizes locking and unlocking, and Quick Release Kuai Lian mechanism includes the first wheel assembly being set on the host, institute
Stating the first wheel assembly includes the first idler wheel, and first wheel assembly is configured to stretching structure to realize the liter of first idler wheel
Drop, Quick Release Kuai Lian mechanism further includes the fit structure being set on the slave, in the contraction-like of first wheel assembly
Under state, first wheel assembly and fit structure cooperation will lock between the host and the slave, described first
Under the stretched condition of wheel assembly, unlocked between the host and the slave.
Optionally, it is provided with the first optical communication element on the host, the second optical communication element is provided on the slave,
It is communicated between the host and the slave by first optical communication element and second optical communication element.
Optionally, the host further includes the second idler wheel of fixed setting, under the stretched condition, first idler wheel
Bottom end and the bottom end of second idler wheel be located at same level, under the contraction state, the bottom end of first idler wheel
Higher than the bottom end of second idler wheel；And/or
The slave includes the second wheel assembly, and second wheel assembly includes third idler wheel, the second wheel assembly construction
Realize the lifting of the third idler wheel for stretching structure, the slave further includes the 4th idler wheel of fixed setting, described the
Under the stretched condition of two wheel assemblies, the bottom end of the bottom end of the third idler wheel and the 4th idler wheel is located at same level,
Under the contraction state of second wheel assembly, the bottom end of the third idler wheel is higher than the bottom end of the 4th idler wheel.
Optionally, the split type crusing robot further includes control device, and the control device is used to work as the host
The second wheel assembly described in timing controlled is locked between the slave and is in contraction state, is also used to control when receiving the unlock signal
It makes second wheel assembly and is in stretched condition.
Optionally, first wheel assembly further includes fixed part and movable part, and the movable part being capable of the relatively described fixation
To realize the flexible of first wheel assembly, first idler wheel is connected portion's movement with the movable part,
The fixed part includes the first clamping structure, and the movable part includes the second clamping structure, in the contraction state
Under, the fit structure is clamped between first clamping structure and second clamping structure；Alternatively,
The first clamping structure is provided on the host, the fixed part is connected to first clamping structure, the work
Dynamic portion includes the second clamping structure, and under the contraction state, the fit structure is clamped in first clamping structure and institute
It states between the second clamping structure.
Optionally, the fit structure includes the installing port being arranged on the slave, and the installing port is penetrated through to described
The edge of slave, the installing port include close to its opening limiting section and far from its opening positioning region, with the installation
For the opening of mouth towards vertically and on the direction vertical with vertical direction, the size of the positioning region is greater than the ruler of the limiting section
Very little, the movable part includes interconnecting piece and the sticking department that is connected with the interconnecting piece, the interconnecting piece and the limiting section ruler
Very little adaptation, the sticking department and the positioning region size fit, the interconnecting piece penetrate institute through the limiting section by the opening
Positioning region is stated, when first wheel assembly becomes contraction state from stretched condition, the sticking department is embedded in the positioning region.
Optionally, the fixed part includes sleeve, and the host includes the first connecting plate, and the sleeve connection is in described the
One connecting plate, first connecting plate constitute first clamping structure, and the movable part includes cylinder, and one of the cylinder
Quartile is in can realize in the sleeve and along the axial movement of the sleeve the flexible of first wheel assembly, the cylinder
The part that is exposed to outside the sleeve constitute the interconnecting piece, the sticking department is arranged in the axial outer end of the interconnecting piece, described
The axial outer end of sticking department is provided with clamping plate, and the clamping plate constitutes second clamping structure.
Optionally, the slave includes the second connecting plate, and the installing port is set to second connecting plate, and described first
The either flush of the bottom surface of connecting plate and second connecting plate, second connecting plate constitute the fit structure.
Optionally, first wheel assembly further includes driving device and transmission mechanism, and the driving device passes through the biography
Motivation structure drives movable part movement, the transmission mechanism include the lead screw being connect with the driving device and with the silk
The nut of thick stick cooperation, the nut are fixedly connected with the end of the cylinder.
Optionally, the cross section outer profile of the nut is non-circular, and the nut is matched with the inner wall of the sleeve
To limit circumferentially rotating for the nut.
The Quick Release Kuai Lian mechanism of split type crusing robot provided by the present application is using on the traveling wheel of a portion
The locking and unlocking between two parts are realized in the cooperation of stretching structure and another part, structure are on the one hand simplified, so that seperated
The structure of formula robot is simpler compact, and the flexible realization locking and unlocking of stretching structure, and structure is relatively reliable, not rapid wear
It is bad, prolong the service life, a part of traveling wheel on the other hand can be made to increase when two parts link together, is divided with improving
Traveling stationarity of the Ti Shi robot in lock state.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the main view of host according to the present invention；
Fig. 2 is the perspective view of host according to the present invention；
Fig. 3 is one of the perspective view of slave according to the present invention；
Fig. 4 is the two of the perspective view of slave according to the present invention；
Fig. 5 is the integrally-built perspective view of crusing robot according to the present invention；
Fig. 6 is the integrally-built main view of crusing robot according to the present invention；
Fig. 7 is the perspective view of the first wheel assembly in contraction state of crusing robot according to the present invention；
Fig. 8 is the main view of the first wheel assembly in contraction state of crusing robot according to the present invention；
Fig. 9 is the sectional view along A-A of Fig. 8；
Figure 10 is the cross-sectional view of the first wheel assembly in stretched condition of crusing robot according to the present invention.
Description of symbols:
1, host；11, the first wheel assembly；111, the first idler wheel；112, movable part；1121, interconnecting piece；1122, sticking department；
1123, cylinder；1124, clamping plate；113, sleeve；1131, the first web portion；1132, the second web portion；114, motor；
115, lead screw；1151, positioning protrusion；116, nut；117, first clamping member；118, the second clamping piece；12, the first noumenon；13,
First connecting plate；14, the second idler wheel；
2, slave；21, the second ontology；22, the second connecting plate；221, installing port；2211, limiting section；2212, positioning region；
23, the second wheel assembly；231, third idler wheel；24, the 4th idler wheel；
3, condition checkout gear；31, magnet ring switchs；
41, the first optical communication device；42, the second optical communication device.
Specific embodiment
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
As shown in Figures 1 to 10, according to an embodiment of the invention, providing a kind of split type crusing robot, including host,
Slave and Quick Release Kuai Lian mechanism, Quick Release Kuai Lian mechanism facilitate host and slave for the locking and unlocking between host and slave
Automatically combine and automatically disengage, as depicted in figs. 1 and 2, Quick Release Kuai Lian mechanism includes the first round group being set on host 1
Part 11, the first wheel assembly 11 include the first idler wheel 111, which is the traveling wheel of host 1,11 structure of the first wheel assembly
Make the lifting that the first idler wheel 111 is realized for stretching structure, i.e. the telescopic direction of the first wheel assembly 11 be it is vertical, such as Fig. 3 and Fig. 4
Shown, Quick Release Kuai Lian mechanism further includes the fit structure being set on slave 2, under the contraction state of the first wheel assembly 11, the
One wheel assembly 11 and fit structure cooperation constitute whole crusing robot by locking between host 1 and slave 2 (referring to Fig. 5
And Fig. 6), it under the stretched condition of the first wheel assembly 11, is unlocked between host 1 and slave 2, in order to which two-part structure can divide
It Zhi Hang not inspection operation.
The Quick Release Kuai Lian mechanism of split type crusing robot provided by the present application is using on the traveling wheel of a portion
The locking and unlocking between two parts are realized in the cooperation of stretching structure and another part, structure are on the one hand simplified, so that seperated
The structure of formula robot is simpler compact, and the flexible realization locking and unlocking of stretching structure, and structure is relatively reliable, not rapid wear
It is bad, prolong the service life, a part of traveling wheel on the other hand can be made to increase when two parts link together, is divided with improving
Traveling stationarity (below have specific introduction) of the Ti Shi robot in lock state.
The fit system of first wheel assembly 11 and fit structure can be for example the cooperation of hook and hanging hole, specifically, the
Hook is provided on one wheel assembly 11, fit structure is hanging hole, under the contraction state of the first wheel assembly 11, is hung on extension
The locking between host 1 and slave 2 is realized in hole, and under the stretched condition of the first wheel assembly 11, hook is detached from hanging hole, so that
It is unlocked between host 1 and slave 2.
For another example in a preferred embodiment, as shown in Figures 8 to 10, the first wheel assembly 11 further include fixed part and
Movable part 112, movable part 112 can fix portion's movement relatively to realize the flexible of the first wheel assembly 11, the first idler wheel 111 and work
Dynamic portion 112 is connected.Wherein, the first clamping structure is provided on host 1, fixed part is connected to the first clamping structure, movable part
112 include the second clamping structure, in a contracted state, fit structure be clamped in the first clamping structure and the second clamping structure it
Between, under stretched condition, the distance between the first clamping structure and the second clamping structure increase, so that it mutually takes off with fit structure
From.
Specifically, as depicted in figs. 1 and 2, host 1 include the first noumenon 12 and connect with the edge of the first noumenon 12 the
One connecting plate 13, the first wheel assembly 11 are threaded through in the first connecting plate 13, and fixed part is fixedly connected with the first connecting plate 13, activity
Clamping plate 1124 is provided in portion 112, clamping plate 1124 is located at 13 lower section of the first connecting plate, and the first connecting plate 13 constitutes first and clamps knot
Structure, clamping plate 1124 constitute the second clamping structure, and as shown in Figure 3 and Figure 4, slave 2 includes the second ontology 21 and the second connecting plate 22,
As shown in Figure 5 and Figure 6, the either flush of the bottom surface of the first connecting plate 13 and the second connecting plate 22, the second connecting plate 22 composition are matched
Close structure, that is, when the first wheel assembly 11 is in contraction state, the second connecting plate 22 is clamped in the first connecting plate 13 and clamping plate
Between 1124.In order to simplify structure, the second ontology 21 and the setting of the second connecting plate 22 are structure as a whole.In Fig. 1 and shown in Fig. 2
In embodiment, the first wheel assembly 11 be arranged side by side there are two, as shown in Figure 3 and Figure 4, the second connecting plate 22 is by the second ontology 21
Edge extends to form to host 1 and is correspondingly provided with two.
It is preferably locked between host 1 and slave 2 to realize, it is preferable that fit structure includes being arranged on slave 2
Installing port 221, in Fig. 3 and embodiment shown in Fig. 4, installing port 221 is arranged on the second connecting plate 22, and installing port 221 passes through
The edge of the second connecting plate 22 is passed to, installing port 221 includes the positioning of the limiting section 2211 and its separate opening close to its opening
Portion 2212, with the opening of the installing port 221 towards on vertical and vertical with vertical direction direction, the ruler of positioning region 2212
The very little size greater than limiting section 2211, for example, installing port 221 is T-shaped in Fig. 3 and embodiment shown in Fig. 4, movable part 112
Including interconnecting piece 1121 and the sticking department being connected with interconnecting piece 1,121 1122, interconnecting piece 1121 and 2211 size of limiting section are suitable
Match, sticking department 1122 and 2212 size fit of positioning region, when host 1 and slave 2 are done close to movement, interconnecting piece 1121 is by being open
Penetrate positioning region 2212 through limiting section 2211, when the first wheel assembly 11 becomes contraction state from stretched condition, sticking department 1122 to
Upper movement, to be embedded in positioning region 2212, in this way, further increasing connection reliability when host 1 and the locking of slave 2.
In a specific embodiment, as shown in Figures 9 and 10, fixed part includes sleeve 113, the lower end of sleeve 113
The first web portion 1131 is provided on periphery wall, the first web portion 1131 connects by the way that fastener and the first connecting plate 13 are fixed
It connects, specifically, the first connecting hole is provided in the first web portion 1131, is provided with the second connecting hole on the first connecting plate 13,
Fastener passes through the first connecting hole and the second connecting hole and realizes being fastenedly connected for the first web portion 1131 and the first connecting plate 13.
Movable part 112 includes cylinder 1123, and a part of cylinder 1123 is located in sleeve 113 and can be along the axial movement of sleeve 113
To realize the flexible of the first wheel assembly 11, the part of cylinder 1123 being exposed to outside sleeve 113 constitutes the interconnecting piece 1121, connection
The axial outer end setting sticking department 1122 in portion 1121, the axial outer end setting clamping plate 1124 of sticking department 1122, first
Idler wheel 111 is connect with the end of the setting clamping plate 1124 of cylinder 1123.
Further, the first wheel assembly 11 further includes driving device and transmission mechanism, and driving device is driven by transmission mechanism
Dynamic movable part 112 moves, to realize the flexible of the first wheel assembly 11.Driving device for example can be dynamic for motor 114, cylinder etc.
Power feedway, in Fig. 9 and embodiment shown in Fig. 10, transmission mechanism include the lead screw 115 being connect with motor 114 and with
The nut 116 that lead screw 115 cooperates, nut 116 are fixedly connected with the end of cylinder 1123, and the rotation of nut 116 is limited, such as
This, when motor 114 drives lead screw 115 to rotate, nut 116 will drive cylinder 1123 and move up and down.
It is further preferred that be provided with the second web portion 1132 on the periphery wall of the upper end of sleeve 113, motor 114 with
Second web portion 1132 is fixedly connected, and the motor shaft of motor 114 protrudes into sleeve 113 and connects with the lead screw 115 in sleeve 113
It connects, lead screw 115 is located in sleeve 113 by location structure, and location structure includes in 117 He of first clamping member arranged up and down
Second clamping piece 118 is provided with positioning protrusion 1151 on the periphery wall of lead screw 115, and positioning protrusion 1151 is clamped in the first folder
Between gripping member 117 and the second clamping piece 118, to limit the axial movement of lead screw 115 and not influence the rotation of lead screw 115, cylinder
1123 upper end is hollow structure, and the lower end of lead screw 115 is extend into cylinder 1123, so that the structure of the first wheel assembly 11 is more
Step up to gather.
In order to simplify structure, it is further preferred that the inner cavity of sleeve 113 is in shoulder hole structure, first clamping member 117 and the
Two clamping pieces 118 are fixed on the cascaded surface of shoulder hole structure.
It is further preferred that the cross section outer profile of nut 116 is non-circular, the inner wall matching of nut 116 and sleeve 113
It closes to limit circumferentially rotating for nut 116, is realized by 116 self structure of nut and the circumferential direction of nut 116 is limited, so that structure
It is simpler.For convenience of processing, in a specific embodiment, the cross section outer profile of nut 116 is rectangular.
Further, host 1 further includes the second idler wheel 14 of fixed setting, under stretched condition, the bottom of the first idler wheel 111
End and the bottom end of the second idler wheel 14 are located at same level, and in a contracted state, the bottom end of the first idler wheel 111 is higher than the second idler wheel
14 bottom end, slave 2 include the second wheel assembly 23, and the second wheel assembly 23 includes third idler wheel 231, and the second wheel assembly 23 is configured to
For stretching structure to realize the lifting of third idler wheel 231, the structure of the second wheel assembly 23 can be with the structure phase of the first wheel assembly 11
Together, it is convenient for batch machining, the part for needing to match on the first wheel assembly with fit structure can also be saved, to simplify structure,
In Fig. 3 and embodiment shown in Fig. 4, the second roll wheel assembly 23 is arranged between two the second connecting plates 22, and slave 2 further includes
4th idler wheel 24 of fixed setting, under the stretched condition of the second wheel assembly 23, the bottom end of third idler wheel 231 and the 4th idler wheel 24
Bottom end be located at same level, under the contraction state of the second wheel assembly 23, the bottom end of third idler wheel 231 is higher than the 4th idler wheel
14 bottom end.In this way, the bottom end of the first idler wheel 111 and the second idler wheel 14 is concordant when two parts separate, realized as traveling wheel
The bottom end of the traveling of host 1, third idler wheel 231 and the 4th idler wheel 24 is concordant, and the traveling of slave 2 is realized as traveling wheel, and works as
When two parts link together, the first idler wheel 111 and third idler wheel 231 rise, and the second idler wheel 14 and the 4th idler wheel 24 are as row
The traveling that wheel realizes whole robot is walked, can be improved the stationarity of whole robot ambulation in this way.
Further, split type crusing robot further includes control device, control device be used for when host 1 and slave 2 it
Between lock the second wheel assembly of timing controlled 23 be in contraction state, the second idler wheel 14 and the 4th idler wheel 24 are realized integrally as traveling wheel
The traveling of robot is also used to control the second wheel assembly 23 when receiving the unlock signal by contraction state and is switched to extension shape
State, in order to not influence the gentle support of slave after host 1 and the unlock of slave 2.
Further, Quick Release Kuai Lian mechanism further includes condition checkout gear 3, for detecting the scale shape of the first wheel assembly 11
State, therefore, it is determined that whether host 1 and slave 2 complete locking and unlocking movement.Condition checkout gear 3 for example can be position sensing
Device, close switch etc..In a specific embodiment, condition checkout gear includes the magnet ring switch 31 of fixed setting and sets
The magnet (not shown) being placed on movable part 112, when the first wheel assembly 11 is upheld, magnet makes far from magnet ring switch 31
It obtains magnet ring switch 31 to disconnect, illustrates that host 1 and slave 2 are in the unlocked state at this time, and when the first wheel assembly 11 is shunk, magnet
Illustrate that host 1 and slave 2 are in the lock state at this time so that magnet ring switch 31 is opened close to magnet ring switch 31.
Preferably, the position of magnet ring switch 31 is adjustable, to guarantee the detection accuracy of condition checkout gear 3, adjustable structure example
It such as can be, limit sliding chutes be provided on the first connecting plate 13, magnet ring switch 31 can be slided along limit sliding chutes to adjust it
Position, after position determines, magnet ring switch 31 can be fixedly connected by fastener with the first connecting plate 13.
Condition checkout gear 3 can also detect the retracted position of the second wheel assembly 23, specific structure and detection first round group
The structure of 11 retracted position of part is similar, and details are not described herein.
It is further preferred that being provided with the first optical communication device 41 on host 1, the second optic communication member is provided on slave 2
Part 42 is communicated between host 1 and slave 2 by the first optical communication device 41 and the second optical communication device 42 to realize two
/ signal transmission.
The Quick Release Kuai Lian mechanism of split type robot provided by the present application utilizes stretching on the traveling wheel of a portion
The locking and unlocking between two parts are realized in the cooperation of structure and another part, structure are on the one hand simplified, so that split type machine
The structure of device people is simpler compact, and the flexible realization locking and unlocking of stretching structure, and structure is relatively reliable, is hardly damaged,
Prolong the service life, a part of traveling wheel can be made to increase, when two parts link together on the other hand to improve fission
Traveling stationarity of the formula robot in lock state.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of split type crusing robot, which is characterized in that including host and slave, the host and slave are fast by Quick Release
Even mechanism realizes locking and unlocking, and Quick Release Kuai Lian mechanism includes the first wheel assembly being set on the host, described the
One wheel assembly includes the first idler wheel, and first wheel assembly is configured to stretching structure to realize the lifting of first idler wheel, institute
Stating Quick Release Kuai Lian mechanism further includes the fit structure being set on the slave, under the contraction state of first wheel assembly,
First wheel assembly and fit structure cooperation will lock between the host and the slave, in first wheel assembly
Stretched condition under, unlocked between the host and the slave.
2. split type crusing robot according to claim 1, which is characterized in that it is logical to be provided with the first light on the host
Believe unit, is provided with the second optical communication element on the slave, it is logical by first light between the host and the slave
Letter unit and second optical communication element are communicated.
3. split type crusing robot according to claim 1, which is characterized in that the host further includes fixed setting
Second idler wheel, under the stretched condition, the bottom end of the bottom end of first idler wheel and second idler wheel is located at same level
Face, under the contraction state, the bottom end of first idler wheel is higher than the bottom end of second idler wheel；And/or
The slave includes the second wheel assembly, and second wheel assembly includes third idler wheel, and second wheel assembly is configured to stretch
For shrinking structure to realize the lifting of the third idler wheel, the slave further includes the 4th idler wheel of fixed setting, in second wheel
Under the stretched condition of component, the bottom end of the bottom end of the third idler wheel and the 4th idler wheel is located at same level, described
Under the contraction state of second wheel assembly, the bottom end of the third idler wheel is higher than the bottom end of the 4th idler wheel.
4. split type crusing robot according to claim 3, which is characterized in that the split type crusing robot also wraps
Control device is included, the control device, which is used to work as between the host and the slave, to be locked at the second wheel assembly described in timing controlled
In contraction state, it is also used to control second wheel assembly when receiving the unlock signal by contraction state and is switched to extension shape
State.
5. according to claim 1 to split type crusing robot described in one of 4, which is characterized in that first wheel assembly is also
Including fixed part and movable part, the movable part can fixed part movement relatively to realize stretching for first wheel assembly
Contracting, first idler wheel are connected with the movable part,
The fixed part includes the first clamping structure, and the movable part includes the second clamping structure, under the contraction state, institute
Fit structure is stated to be clamped between first clamping structure and second clamping structure；Alternatively,
The first clamping structure is provided on the host, the fixed part is connected to first clamping structure, the movable part
Including the second clamping structure, under the contraction state, the fit structure is clamped in first clamping structure and described
Between two clamping structures.
6. split type crusing robot according to claim 5, which is characterized in that the fit structure includes being arranged in institute
The installing port on slave is stated, the installing port is penetrated through to the edge of the slave, and the installing port includes the limit close to its opening
Position portion and positioning region far from its opening, with vertical and vertical with the vertical direction direction of the opening of installing port direction
On, the size of the positioning region is greater than the size of the limiting section, the movable part include interconnecting piece and with the interconnecting piece
Connected sticking department, the interconnecting piece and the limiting section size fit, the sticking department and the positioning region size fit, institute
It states interconnecting piece and penetrates the positioning region through the limiting section by the opening, first wheel assembly is become shrinking from stretched condition
When state, the sticking department is embedded in the positioning region.
7. split type crusing robot according to claim 6, which is characterized in that the fixed part includes sleeve, described
Host includes the first connecting plate, and for the sleeve connection in first connecting plate, first connecting plate constitutes first folder
Locking structure, the movable part include cylinder, and a part of the cylinder is located in the sleeve and can be along the axis of the sleeve
To movement to realize the flexible of first wheel assembly, the part of the cylinder being exposed to outside the sleeve constitutes the connection
The sticking department is arranged in the axial outer end in portion, the interconnecting piece, and the axial outer end of the sticking department is provided with clamping plate, the clamping plate
Constitute second clamping structure.
8. split type crusing robot according to claim 7, which is characterized in that the slave includes the second connecting plate,
The installing port is set to second connecting plate, and the bottom surface of first connecting plate and the top surface of second connecting plate are flat
Together, second connecting plate constitutes the fit structure.
9. split type crusing robot according to claim 7, which is characterized in that first wheel assembly further includes driving
Device and transmission mechanism, the driving device drive the movable part movement, the transmission mechanism packet by the transmission mechanism
The lead screw connecting with the driving device and the nut with lead screw cooperation are included, the end of the nut and the cylinder is solid
Fixed connection.
10. split type crusing robot according to claim 9, which is characterized in that the cross section outer profile of the nut
To be non-circular, the nut is matched with the inner wall of the sleeve to limit circumferentially rotating for the nut.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011250718.8A CN112388600B (en) | 2019-05-20 | 2019-05-20 | Split type inspection robot with quick-release quick-connection mechanism |
| CN201910416874.8A CN110053015B (en) | 2019-05-20 | 2019-05-20 | Split type inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910416874.8A CN110053015B (en) | 2019-05-20 | 2019-05-20 | Split type inspection robot |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011250718.8A Division CN112388600B (en) | 2019-05-20 | 2019-05-20 | Split type inspection robot with quick-release quick-connection mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110053015A true CN110053015A (en) | 2019-07-26 |
| CN110053015B CN110053015B (en) | 2020-12-08 |
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Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011250718.8A Active CN112388600B (en) | 2019-05-20 | 2019-05-20 | Split type inspection robot with quick-release quick-connection mechanism |
| CN201910416874.8A Active CN110053015B (en) | 2019-05-20 | 2019-05-20 | Split type inspection robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011250718.8A Active CN112388600B (en) | 2019-05-20 | 2019-05-20 | Split type inspection robot with quick-release quick-connection mechanism |
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| Country | Link |
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| CN (2) | CN112388600B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116447457A (en) * | 2023-04-25 | 2023-07-18 | 广东爱吉尔机器人科技有限公司 | Henhouse inspection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116447457B (en) * | 2023-04-25 | 2023-12-26 | 广东爱吉尔机器人科技有限公司 | Henhouse inspection robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112388600B (en) | 2022-02-08 |
| CN112388600A (en) | 2021-02-23 |
| CN110053015B (en) | 2020-12-08 |
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