CN203611245U

CN203611245U - Split type robot

Info

Publication number: CN203611245U
Application number: CN201320740195.4U
Authority: CN
Inventors: 杨敏敏
Original assignee: Butterworth Business Machine People Co Ltd Of Suzhou Section
Current assignee: Butterworth Business Machine People Co Ltd Of Suzhou Section; Ecovacs Robotics Suzhou Co Ltd
Priority date: 2013-11-20
Filing date: 2013-11-20
Publication date: 2014-05-28
Anticipated expiration: 2023-11-20

Abstract

The utility model provides a split type robot. The radial swing of a front robot body and a rear robot body can be limited while the floating of the robot bodies in the direction perpendicular to a working surface is not influenced, and thus the radial swing of the robot bodies is improved and the robot body connection is firmer. The split type robot comprises a first robot body (1) and a second robot body (2). The first robot body (1) and the second robot body (2) are connected via a driving mechanism. The driving mechanism drives the first robot body (1) and the second robot body (2) to engage or separate so that walking is achieved. The split type robot also comprises sliding guide rods (3) each comprising a connecting end (8) and a free end (9), wherein the free end (9) is embedded in a guide rod receiving cavity (4) formed in the first robot body (1) and the connecting end (8) is connected with the second robot body (2). Each guide rod receiving cavity (4) comprises a top wall and a bottom wall which are opposite to the working surface and further comprises a left side wall and a right side wall which are parallel to the walking direction. Displacement space is left between the sliding guide rod (3) and the top wall and the bottom wall and the sliding guide rod is pressed against the left side wall and the right side wall.

Description

Split type robot

Technical field

The utility model relates to a kind of for example, by making front body and rear body folding realize the split type robot of walking, split type clean robot.

Background technology

At present, existing split type robot generally comprises front body and the rear body that can be movable relatively, drives front body relatively draw close or separate with rear body by driving mechanism, realizes the creeping motion type walking of robot.But front body only depends on driving mechanism to be connected with rear body, it is not very firm radially connecting, in the time that two bodies separate, body along drive rod to radially wobble amplitude larger, be unfavorable for the straight line moving of body, and easily driving mechanism is caused to damage, seriously reduce the life-span of driving mechanism.

In order to address the above problem, common way is between two bodies, to set up the sliding guide of shaft hole matching class.But split type robot needs to possess the ability of crossing over step sometimes according to need of work, this type of sliding guide is set and can limits two bodies perpendicular to floating in working surface direction, therefore a kind of more excellent scheme is urgently to be resolved hurrily.

In addition, rely on the driving mechanisms such as leading screw that front and back body folding is realized in the split type robot of walking, because the connection between the body of front and back substantially only adopts leading screw and nut, being connected with for fear of the motion between two bodies of other places, and joint gap between leading screw and nut is larger, and connecting length is shorter, it is not very firm radially connecting, when before and after being connected to respectively, two bodies also separate, two bodies will be very large along radially wobbling of drive rod, is unfavorable for like this straight line moving of machine.Particularly for adopting the clean robot of walking in this way, be unfavorable for that very much it controls and have a strong impact on cleaning effect automatically.

Utility model content

In view of the above problems, the purpose of this utility model is to provide a kind of split type robot, can limit before and after body radially wobble but do not affect body along perpendicular to working surface direction float, thereby can improve body radially wobble and make body connect more firm.

Split type robot of the present utility model comprises the first housing and the second housing, the described first housing is connected by driving mechanism with the second housing, drive the described first housing and the second housing to divide incompatible realization walking by described driving mechanism, wherein, described split type robot also comprises sliding guide, described sliding guide has link and free end, described free end is embedded in the accommodating cavity of the set guide rod of the described first housing, described link is connected with the described second housing, the accommodating cavity of described guide rod is provided with roof and the diapire with respect to working surface, and be parallel to the left side of direction of travel, right side wall, described sliding guide and described roof, between diapire, there is displacement space, and support with described left and right sidewall homogeneous phase.

In order not affect body along perpendicular to the floating of working surface direction, the link of preferred described sliding guide is rotatably connected with the described second housing, makes the described free end can be along the direction swing perpendicular to working surface.Or the link of described sliding guide is fixedly connected with the described second housing, make described free end energy along direction and described first housing relative displacement perpendicular to working surface.

As the concrete structure of realizing the above-mentioned effect of the utility model, preferred described sliding guide is made up of support and tumbler, described tumbler is rotatably sticked on described support, and described tumbler is connected to the left and right sidewall of the accommodating cavity of described guide rod, radially wobbles to limit body.In addition, the quantity of preferred described tumbler is multiple, is disposed on described support.

As a preferred embodiment, described tumbler is roller, and the rotating shaft of described roller is vertical with working surface.

Accompanying drawing explanation

Fig. 1 is the overall structure figure of split type robot of the present utility model, the state that before and after representing, body separates.

Fig. 2 is the unitary side view that split type robot of the present utility model is observed from proceeds posterolateral, the state that before and after representing, body separates.

Fig. 3 is the exploded perspective view of sliding guide of the present utility model.

Fig. 4 is the top view of sliding guide of the present utility model.

Fig. 5 is sliding guide scheme of installation of the present utility model.

Fig. 6 is the generalized section of the front body after installation sliding guide of the present utility model.

Description of reference numerals

1 front body

2 rear bodies

3 sliding guides

The accommodating cavity of 4 guide rod

5 leading screws

6 metallic supports

7 rollers

8 links

9 free ends

The specific embodiment

Referring now to Fig. 1 to Fig. 6, split type robot of the present utility model is described.In this patent, radially refer to the left and right directions in Fig. 6, refer to the above-below direction in Fig. 6 perpendicular to the direction of working surface.

As depicted in figs. 1 and 2, described split type robot comprises front body 1 and rear body 2, and front body 1 is connected by screw-nut body with rear body 2, divides incompatible realization to walk by body before and after being driven by described screw-nut body.Screw-nut body has leading screw 5, is provided with two sliding guides 3 in the radially both sides of leading screw 5.

As shown in Figure 3 and Figure 4, described sliding guide 3 comprises metallic support 6 and roller 7, metallic support 6 comprises link 8 and free end 9, described link 8 is fixedly connected with rear body 2, while there is relative displacement in current body 1 and rear body 2 in the direction perpendicular to working surface, free end 9 can be along direction and 1 relative displacement of front body perpendicular to working surface, certainly, also can pass through pivot, bearing etc. herein and rotatably connect, make guide rod 3 turn (pivot swinging) at a plane internal rotation perpendicular to working surface.Spaced multiple roller 7 is rotatably sticked in metallic support 6, and the rotating shaft of roller 7 is vertical with working surface, and as shown in Figure 4 and Figure 6, a part for roller 7 is stretched out from the left and right sides of metallic support 6.

In addition, on the housing of described front body 1, also correspondence is provided with the accommodating cavity 4 of guide rod that holds sliding guide 3, and as shown in Figure 6, the free end 9 of metallic support 6 is embedded in the accommodating cavity 4 of guide rod, and roller 7 is connected to the left and right sides wall of the accommodating cavity 4 of guide rod.When mmi machine body 1 and rear body 2 utilize screw-nut body relative motion, sliding guide 3 and the accommodating cavity 4 of guide rod are along body direction of travel relative sliding.In this process, described roller 7 can rotate along the left and right sidewall of the accommodating cavity 4 of guide rod, has reduced dramatically the frictional force of sliding guide 3 with the sidewall relative motion of the accommodating cavity 4 of guide rod.In addition, between the upper lower wall of the both sides up and down of sliding guide 3 and the accommodating cavity 4 of guide rod, there is displacement space, while there is relative displacement in current body 1 and rear body 2 in the direction perpendicular to working surface, the free end 9 of metallic support 6 is up and down in described displacement space, thereby front body 1 and rear body 2 can be floated along the direction perpendicular to working surface.

As mentioned above, according to the utility model, in the both sides of the leading screw 5 of the screw-nut body for

body

1,2 before and after connecting, be respectively equipped with a sliding guide 3, after 1,2 points of the front and back of split type robot bodies are opened, owing to there being the support of two sliding guides 3, make the very little scope that narrows down to that radially wobbles of front and

back body

1,2,1,2 points of bodies significantly radially wobbling after opening before and after can preventing, thereby can improve, body radially wobbles and that body is connected is more firm.Particularly by split type robot application of the present utility model during in split type clean robot, easily automatically control and improve cleaning effect.

Above, introduced by reference to the accompanying drawings an embodiment of the present utility model, it is emphasized that this embodiment be of the present utility model one of preferred embodiment, protection domain of the present utility model is not subject to the restriction of this embodiment.In addition, implement in process of the present utility model concrete, those skilled in the art can, according to the concrete feature of target, select suitable technical scheme.For example, in the above-described embodiment, illustrate that mmi machine body 1 arranges the accommodating cavity 4 of guide rod, the free end side of metallic support 6 has been embedded in to the accommodating cavity 4 of guide rod, and the link of metallic support 68 is connected with rear body 2.But also can in contrast, accommodating guide rod cavity 4 be arranged to rear body 2, and the link of metallic support 68 is connected with front body 1.

And for example, in the above-described embodiment, roller 7 is rotatably sticked in to metallic support 6, but as long as adopts the tumbler offseting with the accommodating cavity 4 left and right sidewalls of guide rod.In a word, any deduction of doing on the basis of the technical scheme of protecting in the utility model request, all enters protection domain of the present utility model.

Claims

1. a split type robot, comprise the first housing (1) and the second housing (2), the described first housing (1) is connected by driving mechanism with the second housing (2), drive the described first housing (1) and the second housing (2) point incompatible realization walking by described driving mechanism, described split type robot is characterised in that

Also comprise sliding guide (3), described sliding guide (3) has link (8) and free end (9), described free end (9) is embedded in the set accommodating cavity of guide rod (4) of the described first housing (1), and described link (8) is connected with the described second housing (2)

The accommodating cavity of described guide rod (4) is provided with roof and the diapire with respect to working surface, and is parallel to the left and right sidewall of direction of travel, between described sliding guide (3) and described roof, diapire, has displacement space, and supports with described left and right sidewall homogeneous phase.

2. split type robot according to claim 1, is characterized in that, the link (8) of described sliding guide (3) is rotatably connected with the described second housing (2), and described free end (9) can be swung along the direction perpendicular to working surface.

3. split type robot according to claim 1, it is characterized in that, the link (8) of described sliding guide (3) is fixedly connected with the described second housing (2), makes described free end (9) energy along direction and the described first housing (1) relative displacement perpendicular to working surface.

4. according to the split type robot described in any one in claims 1 to 3, it is characterized in that,

Described sliding guide (3) is made up of support (6) and tumbler (7,10), and it is upper that described tumbler (7,10) is rotatably sticked in described support (6),

Described tumbler (7,10) is connected to the left and right sidewall of the accommodating cavity of described guide rod (4), radially wobbles to limit body.

5. split type robot according to claim 4, is characterized in that, the quantity of described tumbler (7,10) is multiple, is disposed on described support (6).

6. split type robot according to claim 4, is characterized in that, described tumbler (7,10) is roller (7), and the rotating shaft of described roller (7) is vertical with working surface.