CN111976857A - A self-rotating two-body wall-climbing robot - Google Patents

Abstract

The invention provides a self-rotating double-body wall-climbing robot, which belongs to the technical field of robots. When this two-body wall-climbing robot needs to transition between walls, the first robot is released from the wall, and the front robot is driven by the pitch servo to rotate a certain angle to lift the robot, and the second robot continues to be adsorbed on the wall. Move forward until the robot 2 is close to the edge of the transition wall, drive the front robot 1 to get close to the transition wall through the pitch servo, start the robot 1, and make the robot 1 adsorb on the transition wall; then, the robot 2 is disengaged from the wall Adsorption, the pitch servo drives the front robot 2 to rotate at a certain angle to lift the robot 2, and the robot 1 continues to move. When the robot 2 is completely in the transition wall, the pitch servo rotates in the opposite direction to reset, and the wall transition process is completed. The transition between different walls is realized by flipping the connecting mechanism, which makes the robot more adaptable and greatly improves the working efficiency.

Description

A self-rotating two-body wall-climbing robot

technical field

The invention belongs to the technical field of robots, and relates to a self-rotating double-body wall-climbing robot.

Background technique

The wall-climbing robot organically combines ground movement technology and adsorption technology, and can carry special tools to replace human beings to work on vertical walls such as buildings and industrial facilities with a certain height from the ground. It can be widely used in industry, rescue, investigation, Wall cleaning, etc. The emergence of wall-climbing robots can make humans avoid dangerous high-altitude and steep-wall operations, improve the working environment of operators, reduce the risk of operation, and greatly improve work efficiency.

Most of the traditional wall-climbing robots are large in size, heavy in weight and slow in crawling speed. With the development of robot technology and the deepening of understanding of wall-climbing robots, wall-climbing robots have begun to develop in the direction of miniaturization, light weight and cable-free, but most of them are single robots, which can only move on flat walls, and do not It has the ability to get more obstacles and more grooves, which greatly limits the scope of use of robots.

The Chinese Patent Application No. 201010217822.7 discloses a modular bionic wall-climbing robot, which adopts the form of negative pressure vacuum adsorption and consists of a joint module and a vacuum adsorption module. The requirements for finish are high. When there are damages or grooves on the wall, the adsorption function will not work, and it cannot be used on uneven and brick walls, and the scope of use is limited.

In a word, most existing wall-climbing robots can only work on a single wall, have poor adaptability to different material walls, and have weak ability to cross obstacles on the wall.

SUMMARY OF THE INVENTION

Aiming at the above problems existing in the prior art, the present invention provides a self-rotating double-body wall-climbing robot. The technical problem to be solved by the present invention is: how to realize the conversion between different walls.

The object of the present invention can be realized through the following technical solutions:

A self-rotating double-body wall-climbing robot includes a robot 1, a robot 2 and a flip connection mechanism, the flip connection mechanism includes a pitch steering gear, a pitch reducer, a front connection buckle and a rear connection buckle, one end of the front connection buckle It is fixedly connected to the chassis of robot 1, the other end of the front connection buckle is provided with a hinge part, one end of the rear connection buckle is fixedly connected to the chassis of robot 2, and the other end of the rear connection buckle is provided with a buckle, and the hinge part is hinged In the buckle, the pitch steering gear is fixedly connected to the rear connection buckle, the output shaft of the pitch steering gear is connected with the pitch reducer, and the output end of the pitch reducer is connected with the hinge part.

Its working principle is: when the two-body wall-climbing robot needs to transition from the wall, the first robot is released from the wall, and the front robot is driven by the pitch servo to rotate a certain angle to lift the robot, and the second robot continues to be adsorbed on the wall. Move up and move forward until robot 2 is close to the edge of the transition wall, drive the front robot 1 to get close to the transition wall through the pitch servo, start robot 1, and make robot 1 adsorb on the transition wall; then, robot 2 and the wall Release the adsorption, drive the front robot 2 to rotate a certain angle through the pitch servo to lift the robot 2, and the robot 1 continues to move. When the robot 2 is completely in the transition wall, the pitch servo rotates in the opposite direction to reset, and the wall transition process is completed. The double-body wall-climbing robot realizes the transition between different walls by flipping the connecting mechanism, which makes the robot more adaptable and greatly improves the working efficiency of the robot.

In the above-mentioned self-rotating two-body wall-climbing robot, the first robot and the second robot are both self-rotating robots, and the self-rotating robot includes a chassis, a circular turntable, a fan assembly, a drive assembly and a power supply module;

A bearing platform is arranged in the chassis, and a plurality of first semicircular grooves are arranged on the bearing platform; the circular turntable is provided with a receiving portion, and the lower side of the receiving portion is provided with a number of first half-circular grooves corresponding to each other one-to-one. the second semicircular groove, the circular turntable is overlapped on the bearing platform through the receiving part, and the first semicircular groove and the second semicircular groove cooperate to form a circular cavity, and rolling steel balls are arranged in the circular cavity, so The rolling steel ball can roll in the circular cavity;

The fan assembly includes a brushless motor, a centrifugal fan and a shroud, the shroud is fixed on the circular turntable, the brushless motor is installed in the shroud, and the output shaft of the brushless motor is connected with a centrifugal fan , the bottom of the circular turntable is provided with a tuyere, the tuyere corresponds to the shroud, a negative pressure cavity is arranged in the circular turntable, and the negative pressure cavity is communicated with the shroud;

The drive assemblies are divided into two groups. The two groups of drive assemblies are located on both sides of the shroud respectively. The drive assemblies include a drive motor, a reducer, a driving pulley, a driven pulley and a synchronous track. The drive motor is installed in a circular shape. On the turntable, the output shaft of the drive motor is connected with a reducer, the output shaft of the reducer is connected with a driving pulley, the driven pulley is movably connected to the circular turntable, and the driving pulley and the driven pulley pass through Synchronous crawler drive connection;

The power module is installed on the circular turntable, the power module is used for providing power, and the power module is electrically connected with the driving motor, the brushless motor and the pitching servo.

In the above-mentioned self-rotating two-body wall-climbing robot, the self-rotating robot further includes a ball orbital fixed ring, a plurality of third semicircular grooves are provided on the upper side of the receiving portion, and the ball orbital fixed ring is provided with a plurality of third semicircular grooves. The lower side is provided with a plurality of fourth semicircular grooves corresponding to the third semicircular grooves one-to-one, the ball track fixed ring is overlapped on the receiving part of the circular turntable, and the third semicircular groove and the fourth semicircular groove cooperate to form a A circular cavity, a rolling steel ball is arranged in the circular cavity, the rolling steel ball can roll in the circular cavity, and the fixed ring of the ball track is fixedly connected to the chassis.

In the above-mentioned self-rotating double-body wall-climbing robot, a plurality of limit screw holes are provided on the side of the ball track fixing ring, and the ball track fixing ring is fixed on the chassis by screws passing through the limit screw holes.

In the above-mentioned self-rotating two-body wall-climbing robot, the self-rotating robot further includes a noise reduction device, the noise reduction device is located above the air shroud, and the noise reduction device is fixedly connected to the circular turntable.

In the above-mentioned self-rotating double-body wall-climbing robot, the self-rotating robot further includes a fan speed control board, which is used to control the rotational speed of the brushless motor, and the fan speed control board is installed on the circular turntable , the fan speed control board is electrically connected to the power module.

In the above-mentioned self-rotating double-body wall-climbing robot, a sealing ring is provided between the air shroud and the circular turntable.

In the above-mentioned self-rotating double-body wall-climbing robot, an elastic sealing gasket is provided at the edge of the lower surface of the chassis, and the elastic sealing gasket is filled with sponge.

In the above-mentioned self-rotating double-body wall-climbing robot, the first robot includes a main control module, the main control module is installed above the noise reduction device, and the main control module is used to control the rotation directions of the first robot and the second robot. , rotation angle and moving distance, the main control module is electrically connected with the power module.

In the above-mentioned self-rotating two-body wall-climbing robot, the first robot and the second robot are provided with an aviation socket, and the aviation socket is used for data connection and transmission between the first robot and the second robot.

Compared with the prior art, the advantages of the present invention are as follows:

1. The self-rotating double-body wall-climbing robot realizes the transition between different walls by flipping the connecting mechanism, which makes the robot more adaptable and greatly improves the operation efficiency of the robot. .

2. The self-rotating two-body wall-climbing robot can freely rotate 360° according to the operator's instructions, thereby changing the movement direction of the robot, making the robot more flexible and easier to avoid obstacles.

3. The self-rotating two-body wall-climbing robot is controlled by a unified main control module, making it more intelligent.

Description of drawings

Fig. 1 is the structure schematic diagram of this self-rotating double-body wall-climbing robot;

Fig. 2 is the structural representation of self-rotating robot;

Fig. 3 is the structural schematic diagram of another perspective of the self-rotating robot;

4 is a cross-sectional view of a self-rotating robot.

In the figure, 1. Robot 1; 2. Robot 2; 3. Flip connection mechanism; 4. Pitch steering gear; 5. Pitch reducer; 6. Front connection buckle; 7. Rear connection buckle; 8. Hinged part; 9. Buckle; 10, chassis; 11, round turntable; 12, fan assembly; 13, drive assembly; 14, power module; 15, bearing platform; 16, receiving part; 17, rolling steel ball; 18, shroud; 19 , tuyere; 20, negative pressure chamber; 21, drive motor; 22, reducer; 23, driving pulley; 24, driven pulley; 25, synchronous track; 26, ball track fixed ring; 27, limit screw hole; 28, noise reduction device; 29, fan speed control board; 30, sealing ring; 31, elastic gasket; 32, main control module; 33, aviation socket.

Detailed ways

The following are specific embodiments of the present invention, and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.

As shown in Figure 1, the self-rotating double-body wall-climbing robot includes a robot 1, a robot 2, and a flip connection mechanism 3. The flip connection mechanism 3 includes a pitch steering gear 4, a pitch reducer 5, a front connection buckle 6 and a rear The connecting buckle 7, one end of the front connecting buckle 6 is fixedly connected to the chassis 10 of the robot one 1, the other end of the front connecting buckle 6 is provided with a hinge 8, and one end of the rear connecting buckle 7 is fixedly connected to the chassis 10 of the robot two 2. The other end of the connection buckle 7 is provided with a buckle 9, the hinge part 8 is hinged in the buckle 9, the pitch steering gear 4 is fixedly connected to the rear connection buckle 7, and the output shaft of the pitch steering gear 4 is connected with the pitch reducer 5, The output end of the pitch reducer 5 is connected to the hinge part 8 . As a preferred embodiment, the pitch steering gear 4 is fixedly connected to the rear connection buckle 7 through screws.

When the dual-body wall-climbing robot needs to transition between the walls, the robot one 1 first removes the adsorption from the wall, and drives the front robot one 1 to rotate at a certain angle through the pitch servo 4 to lift the robot one 1, and the robot two 2 continues to adsorb Move forward on the wall until the robot 2 is close to the edge of the transition wall, drive the front robot 1 to get close to the wall after the transition through the pitch servo 4, start the robot 1, and make the robot 1 adsorb on the wall after the transition Then, the robot two 2 is desorbed from the wall, and the front robot two 2 is driven by the pitch steering gear 4 to rotate a certain angle to lift the robot two 2, and the robot one 1 continues to move. When the robot two 2 is completely in the transition wall, the pitch The steering gear 4 is reversely rotated and reset, and the wall transition process is completed. The robot realizes the transition between different walls by flipping the connecting mechanism 3, which makes the robot more adaptable and greatly improves the working efficiency of the robot.

As shown in FIGS. 2-4 , in this embodiment, robot one 1 and robot two 2 are both self-rotating robots, and the self-rotating robots include a chassis 10 , a circular turntable 11 , a fan assembly 12 , a drive assembly 13 and a power supply module 14 ;

A bearing platform 15 is arranged in the chassis 10, and a plurality of first semicircular grooves are arranged on the bearing platform 15; Two semicircular grooves, the circular turntable 11 is lapped on the supporting platform 15 through the receiving portion 16, the receiving portion 16 is connected with the supporting platform 15 by a gap, and the first semicircular groove cooperates with the second semicircular groove to form a circular cavity, the circular cavity There are rolling steel balls 17 inside, and the rolling steel balls 17 can be rolled in the circular cavity; as a preferred embodiment, the diameter of the first semicircular groove and the second semicircular groove are both 3mm, and the number is 18, and they are evenly arranged ; In this structure, the first semicircular groove cooperates with the second semicircular groove to form a circular cavity, the circular cavity is provided with rolling steel balls 17, the rolling steel balls 17 can roll in the circular cavity, and the circular turntable 11 acts as a driving force The rolling steel ball 17 can be rotated 360° in the interior, thereby changing the movement direction of the self-rotating robot and making its movement more flexible;

The fan assembly 12 includes a brushless motor, a centrifugal fan and a shroud 18. The shroud 18 is fixed on the circular turntable 11, and a sealing ring 30 is arranged between the shroud 18 and the circular turntable 11. The brushless motor is mounted on the circular turntable 11. Inside the shroud 18, the output shaft of the brushless motor is connected with a centrifugal fan, the bottom of the circular turntable 11 is provided with a tuyere 19, the tuyere 19 corresponds to the shroud 18, and the circular turntable 11 is provided with a negative pressure cavity 20, The negative pressure chamber 20 is communicated with the shroud 18; in this structure, the brushless motor is started to drive the centrifugal fan to rotate at a high speed, and the air in the shroud 18 is extracted to form a negative pressure, so that the self-rotating robot is firmly adsorbed on the shroud 18. on the wall;

The drive assemblies 13 are divided into two groups. The two groups of drive assemblies 13 are located on both sides of the shroud 18 respectively. The drive assemblies 13 include a drive motor 21, a reducer 22, a driving pulley 23, a driven pulley 24 and a synchronous track 25. The motor 21 is installed on the circular turntable 11, the output shaft of the driving motor 21 is connected with a reducer 22, the output shaft of the reducer 22 is connected with the driving pulley 23, the driven pulley 24 is movably connected on the circular turntable 11, and the driving belt The wheel 23 and the driven pulley 24 are connected by transmission through the synchronous crawler 25; in this structure, the driving motor 21 drives the driving pulley 23 and the driven pulley 24 to rotate, thereby making the self-rotating robot move on the wall;

The power module 14 is installed on the circular turntable 11 , and the power module 14 is used for providing power. The power module 14 is electrically connected with the driving motor 21 , the brushless motor and the pitch steering gear 4 . As a preferred embodiment, the power module 14 has a total capacity of at least 5600mAh and a battery life of more than 1 hour.

As shown in FIG. 4 , in this embodiment, the self-rotating robot further includes a ball track fixed ring 26 , a plurality of third semicircular grooves are arranged on the upper side of the receiving portion 16 , and a plurality of third semicircular grooves are arranged on the lower side of the ball track fixed ring 26 . The third semicircular grooves correspond to the fourth semicircular grooves one-to-one, the ball track fixed ring 26 is overlapped on the receiving portion 16 of the circular turntable 11, and the ball track fixed ring 26 is connected with the receiving portion 16 of the circular turntable 11 through a gap. The third semicircular groove and the fourth semicircular groove cooperate to form a circular cavity. The rolling steel ball 17 is arranged in the circular cavity. The rolling steel ball 17 can roll in the circular cavity. The ball track ring 26 is fixedly connected to the chassis 10 . As a preferred embodiment, the diameters of the third semicircular groove and the fourth semicircular groove are both 3 mm and 18 in number, and they are evenly arranged. In this structure, the circular turntable 11 can be restricted from moving up and down by the ball track fixed ring 26 .

As shown in FIG. 4 , in this embodiment, a number of limiting screw holes 27 are provided on the side of the ball track fixing ring 26 , and the ball track fixing ring 26 is fixed to the chassis 10 by screws passing through the limiting screw holes 27 . As a preferred embodiment, the number of screw holes is four.

As shown in FIG. 2 , in this embodiment, the self-rotating robot further includes a noise reduction device 28 . The noise reduction device 28 is located above the shroud 18 , and the noise reduction device 28 is fixedly connected to the circular turntable 11 . The noise reduction device 28 Used to reduce the noise generated when the centrifugal fan rotates. As a preferred embodiment, the noise reduction device 28 is a muffler cover, a sealing ring 30 is provided between the noise reduction device 28 and the air guide cover 18 , and the noise reduction device 28 is screwed and fixed to the circular turntable 11 through studs.

As shown in FIG. 2 , in this embodiment, the self-rotating robot further includes a fan speed control board 29 , which is used to control the speed of the brushless motor. The fan speed control board 29 is installed on the circular turntable 11 . The speed control board 29 is electrically connected to the power module 14 .

As shown in FIG. 3 , in this embodiment, an elastic sealing gasket 31 is provided at the edge of the lower surface of the chassis 10 , and the elastic sealing gasket 31 is filled with sponge. In this structure, an elastic sealing gasket 31 is provided at the edge of the lower surface of the chassis 10 , and the elastic sealing gasket 31 is filled with sponge, so that the self-rotating robot can be well adsorbed on the wall without damaging the wall.

As shown in FIG. 2 , in this embodiment, the robot one 1 includes a main control module 32 , which is installed above the noise reduction device 28 , and the main control module 32 is used to control the rotation directions of the robot one 1 and the robot two 2 , rotation angle and moving distance, the main control module 32 is electrically connected with the power module 14 . In this structure, through the control of the same main control module 32, the robot one 1 and the robot two 2 rotate in the same direction, rotate the same angle, and move the same distance each time, and the main control module 32 can realize wireless Remote control, using wireless transmission control mode, gets rid of the shackles of cables, more flexible and convenient, real-time control of mobile phone mobile terminal, simple control interface, novices can easily operate.

As shown in FIG. 1 , in this embodiment, the first robot 1 and the second robot 2 are both provided with an aviation socket 33 , and the aviation socket 33 is used for data connection and transmission between the first robot 1 and the second robot 2 . All data communication between robot one 1 and robot two 2 is completed through the connection of two aviation sockets 33 .

When the self-rotating double-body wall-climbing robot moves forward on the wall, if it encounters a large obstacle in front of it, it can avoid the obstacle by changing the moving direction of the robot. During work, the self-rotating double-body wall-climbing robot is due to the negative pressure acting on the robot. Closely attached to the wall, when the main control module 32 receives the rotation command, for example, rotates 90° to the right, then the circular turntables 11 of the robot one 1 and the robot two 2 will move to the right at the same time under the action of the driving component 13. Rotate 90°, at this time, the self-rotating double-body wall-climbing robot can move to the right as a whole. After moving for a certain distance, the main control module 32 receives the instruction to rotate 90 degrees to the left, and the robot one 1 and the robot two 2 circular turntable 11 will rotate 90° to the left at the same time under the action of the driving mechanism. At this time, the self-rotating double-body wall-climbing robot can move forward as a whole, avoid obstacles, and rotate robots 1 and 1 at the same time according to the actual situation. The circular turntable 11 of the robot 2 2 changes the movement direction and controls the self-rotating double-body wall-climbing robot to move forward, so that the self-rotating double-body wall-climbing robot can move more flexibly.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which the present invention pertains can make various modifications or additions to the described specific embodiments or substitute in similar manners, but will not deviate from the spirit of the present invention or go beyond the definitions of the appended claims range.

Claims (10)

1. A self-rotating double-body wall-climbing robot is characterized by comprising a first robot (1), a second robot (2) and a turnover connecting mechanism (3), wherein the turnover connecting mechanism (3) comprises a pitching steering engine (4), a pitching speed reducer (5), a front connecting buckle (6) and a rear connecting buckle (7), one end of the front connecting buckle (6) is fixedly connected to a chassis (10) of the first robot (1), the other end of the front connecting buckle (6) is provided with a hinged part (8), one end of the rear connecting buckle (7) is fixedly connected to the chassis (10) of the second robot (2), the other end of the rear connecting buckle (7) is provided with a buckle (9), the hinged part (8) is hinged in the buckle (9), the pitching steering engine (4) is fixedly connected to the rear connecting buckle (7), and an output shaft of the pitching steering engine (4) is connected with the pitching speed reducer (5), the output end of the pitching speed reducer (5) is connected with the hinge part (8).

2. A self-rotating twin-body wall-climbing robot according to claim 1, wherein the first robot (1) and the second robot (2) are both self-rotating robots, and the self-rotating robots comprise a chassis (10), a circular turntable (11), a fan assembly (12), a driving assembly (13) and a power supply module (14);

a bearing platform (15) is arranged in the chassis (10), and a plurality of first semicircular grooves are formed in the bearing platform (15); the circular turntable (11) is provided with a bearing part (16), a plurality of second semicircular grooves which are in one-to-one correspondence with the first semicircular grooves are arranged on the lower side surface of the bearing part (16), the circular turntable (11) is lapped on the bearing platform (15) through the bearing part (16), the first semicircular grooves and the second semicircular grooves are matched to form a circular cavity, rolling steel balls (17) are arranged in the circular cavity, and the rolling steel balls (17) can roll in the circular cavity;

the fan assembly (12) comprises a brushless motor, a centrifugal fan and a flow guide cover (18), the flow guide cover (18) is fixed on a circular turntable (11), the brushless motor is installed in the flow guide cover (18), an output shaft of the brushless motor is connected with the centrifugal fan, an air port (19) is formed in the bottom of the circular turntable (11), the air port (19) corresponds to the flow guide cover (18), a negative pressure cavity (20) is formed in the circular turntable (11), and the negative pressure cavity (20) is communicated with the flow guide cover (18);

the air guide sleeve is characterized in that the number of the driving assemblies (13) is two, the two groups of driving assemblies (13) are respectively positioned on two sides of the air guide sleeve (18), each driving assembly (13) comprises a driving motor (21), a speed reducer (22), a driving belt wheel (23), a driven belt wheel (24) and a synchronous crawler (25), the driving motor (21) is installed on the circular turntable (11), an output shaft of the driving motor (21) is connected with the speed reducer (22), an output shaft of the speed reducer (22) is connected with the driving belt wheel (23), the driven belt wheel (24) is movably connected to the circular turntable (11), and the driving belt wheel (23) and the driven belt wheel (24) are in transmission connection through the synchronous crawler (25);

the power module (14) is installed on the circular turntable (11), the power module (14) is used for providing power, and the power module (14) is electrically connected with the driving motor (21), the brushless motor and the pitching steering engine (4).

3. A self-rotating twin-body wall-climbing robot according to claim 2, further comprising a ball track fixing ring (26), wherein the upper side of the receiving portion (16) is provided with a plurality of third semi-circular grooves, the lower side of the ball track fixing ring (26) is provided with a plurality of fourth semi-circular grooves corresponding to the third semi-circular grooves one by one, the ball track fixing ring (26) is lapped on the receiving portion (16) of the circular turntable (11), and the third semi-circular grooves and the fourth semi-circular grooves cooperate to form a circular cavity, the circular cavity is provided with rolling steel balls (17), the rolling steel balls (17) can roll in the circular cavity, and the ball track fixing ring (26) is fixedly connected to the chassis (10).

4. A self-rotating double-body wall-climbing robot according to claim 3, characterized in that the side of the ball track fixing ring (26) is provided with a plurality of limit screw holes (27), and the ball track fixing ring (26) is fixed on the chassis (10) by screws passing through the limit screw holes (27).

5. A self-rotating twin-hull wall-climbing robot according to claim 2, characterised in that it further comprises noise-reducing means (28), said noise-reducing means (28) being located above the air guide housing (18), the noise-reducing means (28) being fixedly connected to the circular turntable (11).

6. A self-rotating double-body wall-climbing robot according to claim 2, wherein the self-rotating robot further comprises a fan speed regulation board (29), the fan speed regulation board (29) is used for controlling the rotation speed of the brushless motor, the fan speed regulation board (29) is installed on the circular turntable (11), and the fan speed regulation board (29) is electrically connected with the power module (14).

7. A self-rotating twin-bodied wall-climbing robot according to claim 2, characterised in that a sealing ring (30) is arranged between the spinner (18) and the circular turntable (11).

8. A self-rotating double-body wall-climbing robot according to claim 1, characterized in that an elastic sealing gasket (31) is arranged at the edge of the lower surface of the chassis (10), and the elastic sealing gasket (31) is filled with sponge.

9. A self-rotating double-body wall-climbing robot according to claim 5, wherein the first robot (1) comprises a main control module (32), the main control module (32) is installed above the noise reduction device (28), the main control module (32) is used for controlling the rotating direction, the rotating angle and the moving distance of the first robot (1) and the second robot (2), and the main control module (32) is electrically connected with the power supply module (14).

10. A self-rotating twin-body wall-climbing robot according to any of claims 1-9, wherein the first robot (1) and the second robot (2) are each provided with an aviation socket (33), and the aviation socket (33) is used for data connection transmission of the first robot (1) and the second robot (2).

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