CN203612094U - Split type robot - Google Patents
Split type robot Download PDFInfo
- Publication number
- CN203612094U CN203612094U CN201320740212.4U CN201320740212U CN203612094U CN 203612094 U CN203612094 U CN 203612094U CN 201320740212 U CN201320740212 U CN 201320740212U CN 203612094 U CN203612094 U CN 203612094U
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- China
- Prior art keywords
- chain
- split type
- type robot
- robot body
- rear body
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- Expired - Lifetime
Links
- 238000005452 bending Methods 0.000 claims description 30
- 230000004308 accommodation Effects 0.000 claims description 18
- 230000000694 effects Effects 0.000 claims description 9
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 239000000741 silica gel Substances 0.000 claims description 4
- 229910002027 silica gel Inorganic materials 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 239000013536 elastomeric material Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000003292 glue Substances 0.000 description 2
- 229910052710 silicon Inorganic materials 0.000 description 2
- 239000010703 silicon Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Images
Abstract
The utility model provides a split type robot comprising a front robot body (001) and a rear robot body (002). The front robot body and the rear robot body are connected and driven by a chain and chain wheel mechanism, so that the front robot body and the rear robot body can be separated or engaged and wriggling walking can be achieved. The front end and the rear end of a chain (2) are installed on the front robot body and the rear robot body respectively. A chain wheel (3) is installed on the front robot body or the rear robot body. A limit mechanism is arranged on the periphery of the chain. Under the action of the limit mechanism, chain sections between the chain wheel and the rear end of the chain or the front end of the chain are collinear. The chain is provided with a receiving space which receives a flexible connector between the front robot body and the rear robot body. The split type robot has the advantages that larger thrust can be transmitted, the reciprocating travel is larger, the line layout of vacuum tube lines, power lines and control lines is also improved, the structure is simplified and the problem of disorder and damage of linear connectors such as the control lines of the split type robot is effectively solved.
Description
Technical field
The utility model relates to Robotics field, and particularly a kind of split type robot, belongs to household electrical appliances manufacturing technology field.
Background technology
Existing split type robot, for example split type robot for cleaning wall surfaces, comprises two point bodies (being also called front/rear body) that can be movable relatively conventionally; Between two points of bodies that can be movable relatively, connect by gear unit and drive its relative motion.Described gear unit is generally feed screw nut, rack-and-gear or cam crank.
All there is some deficiency in the above-mentioned gear unit for split type robot: for example, screw nut driven efficiency is low, and transmitting thrust is less; And for example, cam crank reciprocating travel is relatively little, is subject to part own vol dimensional restriction, does not possess soft readjustment function.In addition, according to the functional requirement of split type robot, between its two points of bodies, be generally also provided with the wire such as power lead, signal wire (SW) attaching parts, and the mode of motion of split type machine has determined that its wire attaching parts can not be fixedly installed, and wire attaching parts is in order to meet the needs of two body relative motions to ultimate range, conventionally longer, therefore easily disorderly, and along with body crank motion, wire attaching parts is stretched and backfin repeatedly, very easily damage.
Utility model content
In view of the existing defect of above-mentioned prior art, the purpose of this utility model aims to provide a kind of split type robot, it can not only be that split type robotic delivery is compared with high thrust, and reciprocating travel is larger, also take into account the pipeline layout such as vacuum lamp pipeline and control line of split type robot simultaneously, thereby overcome the existing defect of above-mentioned prior art.
The purpose of this utility model is achieved through the following technical solutions:
A kind of split type robot, comprise front body and rear body, described front body is connected and is driven by chain sprocket mechanism with rear body, make described front body and rear body separate or close up, realize the wriggling walking of robot, front body and rear body are located at respectively in chain front-end and back-end, sprocket wheel is arranged at front body or rear body, chain periphery arranges a stop gear, under the effect of stop gear, and each chain section conllinear between described sprocket wheel and chain rear end or chain front end; Described chain is provided with accommodation space, and described accommodation space holds the flexible connecting member between front body and rear body.
Described accommodation space is mutually connected and forms by the holding part being arranged on each chain section, described accommodation space both ends open.
For the ease of fixing, described holding part is to be provided with the parts of through hole or the U-shaped of part opening folder or C clamp.
For convenient location, described stop gear has free end and fixed end, and described fixed end is fixed on front body or rear body, and free end at least extends to the sprocket wheel place of rear body or front body.
As required, described stop gear is chain guide, and the cross-sectional plane of described chain guide is concave shape structure, forms cavity after longitudinal extension, and described chain is placed in the cavity of chain guide.Its effect is relatively rotating between the link in restriction chain, guarantees that forward and backward body is in relative motion process, and chain can not affect mechanical drive because of the crimp between link.
Sidepiece at described chain arranges flange, and the correspondence position in described chain guide cavity arranges groove, and described flange is embedded in described groove.Its effect is to make chain guide spacing to chain better, effectively prevents the de-tooth of chain and sprocket wheel in working process, and limit chain along sprocket shaft to displacement.
Described chain is the first unidirectional bending chain, and described the first unidirectional bending chain bends towards sprocket wheel, and described chain guide is hard straight plate, and described hard straight plate is located at the side that described chain deviates from sprocket wheel.Described chain guide is the chain of the second unidirectional bending, and described the first and second bending chain dos-à-doss arrange.That is to say, chain guide can be replaced with another unidirectional bending chain.
In technique scheme, described flexible connecting member is control line or vacuum lamp; Its material is soft silica gel.The material of described vacuum lamp can be selected soft silicon glue, rubber elastomeric material, and preferred soft silica gel, so that elastic deformation can occur along with the bending of chain vacuum lamp; Described control line comprises the wire such as power lead, signal wire (SW) attaching parts, and it can bind together in the accommodation space being interspersed in described chain with vacuum lamp.
That is to say, when the utility model is applied transmission of the present utility model and pipeline connecton layout on split type robot, described sprocket wheel is fixed on the output shaft in a point of body of robot, and the drive system being made up of DC machine and the drop-gear box of robot provides compared with high pulling torque output (output shaft and drive system are arranged in rear body conventionally); The front/rear end of described chain is individually fixed in front/rear body, is wherein arranged at rear the fixing of chain one end bending of same point of body with sprocket wheel.In the time that the forward and backward body of robot is done relative motion, because wire attaching parts is interspersed in the accommodation space in chain, be subject to the constraint of chain, therefore can not get muddled.
The utlity model has following beneficial effect:
It can not only be that split type robotic delivery is compared with high thrust, and reciprocating travel is larger, and the pipeline layouts such as vacuum lamp pipeline and power lead, control line are taken into account, both simplified the structure of robot, the wire attaching parts such as control line that has effectively solved again split type robot is easily disorderly, the problem of damage.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model embodiment 1;
The schematic diagram of the chain guide in Fig. 2 the utility model embodiment 1;
Fig. 3 is the partial enlarged drawing of Fig. 1;
Fig. 4 is the cross sectional drawing of the chain in the utility model embodiment 1;
Fig. 5 is the schematic diagram of the chain in the utility model embodiment 1;
Fig. 6 is the structural representation of the utility model embodiment 2;
Fig. 7 is the structural representation of the utility model embodiment 3;
Fig. 8 is the cross sectional drawing of the chain structure in the utility model embodiment 3.
The specific embodiment
Introduce the embodiment of the split type robot transmission of the utility model and pipeline connecton layout below in conjunction with accompanying drawing.
Embodiment 1
As shown in Figure 1 and Figure 4, a kind of transmission of split type robot and pipeline connecton layout, it comprises chain guide 1, chain 2, sprocket wheel 3, vacuum lamp 4, control line 5, between each chain section of described chain 2, mutually connect, in chain, form the accommodation space of both ends open, described vacuum lamp 4, control line 5 are interspersed in the accommodation space in described chain 2.
As shown in Figure 1, in the present embodiment, the front end of described chain 2 is fixed in front body 001, be fixed in rear body 002, and its bending end is towards the direction bending of sprocket wheel 3 after the rear end bending of described chain 2.The DC machine of robot and drop-gear box are (because belonging to prior art, not shown) be also placed in rear body 002, described sprocket wheel 3 is arranged on the output shaft in rear body 002, its role is to chain drive-belt 2 and makes front body 001 and rear body 002 do relative motion.
In the time that sprocket wheel 3 chain drive-belts 2 make front body 001 and rear body 002 make move toward one another, the stressed of the part of chain 2 between two points of bodies is pulling force, when current body 001 and rear body 002 move dorsad, chain 2 between two points of bodies stressed be pressure.When chain 2 pressurized, be the transmission that prevents from occurring along link hand of rotation between link bending deformation effect pressure, chain 2 need be limited on same straight line the part between front body 001 and rear body 002, make cannot relatively rotate between its link.
For by chain 2, the part between front body 001 and rear body 002 is limited on same straight line, make cannot relatively rotate between its link, the present embodiment has adopted by chain 2 part between front body 001 and rear body 002 to be placed in the technological means of the cavity of chain guide 1.
As shown in Figure 4 and Figure 5, the sidepiece of described chain 2 is also provided with flange 201; As shown in Figures 2 and 3, correspondence position in described chain guide 1 cavity is also provided with groove 101, in the time that chain 2 is placed in the cavity of chain guide 1, described flange 201 is embedded in described groove 101, this structure can be effectively point-blank spacing chain 2, while guaranteeing chain 2 pressurized, can not bend distortion, in order to make more effectively transferring power of chain 2, described chain 2 only can unidirectionally bend itself.It should be noted that, selecting in the present embodiment unidirectional bending chain is one preferred embodiment, and the chain of bending all can meet the technical requirements of this programme arbitrarily.
Embodiment 2
Shown in the Fig. 6 of institute, the structure of the present embodiment is similar to embodiment 1, difference is, in the present embodiment, described chain 2 can only unidirectionally bend itself, that is the present embodiment select can only unidirectional bending chain (cw or conter clockwise bending), and holding part of its each link is connected mutually, form accommodation space.Because chain 2 can only unidirectionally bend, chain overbending direction is towards sprocket wheel setting, therefore, a side that only need deviate from sprocket wheel at chain arrange a chain baffle plate 6 can be by chain 2 part between front body 001 and rear body 002 point-blank spacing.Chain baffle plate 6 is a hard straight plate, is arranged at the side that described chain 2 deviates from sprocket wheel, its effect is equivalent to chain guide 1 in embodiment 1, therefore the chain guide that chain baffle plate 6 can be considered as simplifying.In a word, embodiment is equipped with chain point-blank spacing, simple in structure by the characteristic of chain itself and the chain guide of a hard straight plate structure, be easy to assembling.
Embodiment 3
As shown in Figure 7 and Figure 8, the basic structure of the present embodiment and embodiment 2 is approximate, and difference is, the chain that the present embodiment can unidirectional bending by another replaces chain guide, and two chain dos-à-doss arrange, and two chains whiles are point-blank limited.The present embodiment by two can unidirectional bending chain be equipped with and realize spacing to chain bending, saved chain guide, and the flexible connecting member of two chains between can accommodating more two bodies.
More than, by three embodiment, the structure of transmission provided by the utility model and pipeline connecton layout is explained.In conjunction with shown in Fig. 1 to Fig. 8, the utility model provides a kind of split type robot, comprise front body 001 and rear body 002, described front body is connected and is driven by chain sprocket mechanism with rear body, make described front body and rear body separate or close up, realize the wriggling walking of robot, front body 001 and rear body 002 are located at respectively in chain 2 front-end and back-end, sprocket wheel 3 is arranged at front body 001 or rear body 002, chain 2 peripheries arrange a stop gear, under the effect of stop gear, each chain section conllinear between described sprocket wheel 3 and chain 2 rear ends or chain 2 front ends, each chain section of described chain is provided with the holding part of mutual perforation, forms the accommodation space of both ends open in chain, and described accommodation space holds the flexible connecting member between front body and rear body.Certainly, holding part can arrange on each chain section, also can be as required, and be chosen on part chain section holding part is set, multiple holding parts are formed through accommodation space mutually.For the ease of fixing, described holding part is to be provided with the parts of through hole or the U-shaped of part opening folder or C clamp.For convenient location, described stop gear has free end and fixed end, and described fixed end is fixed on front body 001 or rear body 002, and free end at least extends to the sprocket wheel place of rear body 002 or front body 001.
As required, described stop gear is chain guide 6, and the cross-sectional plane of described chain guide 6 is concave shape structure, forms cavity after longitudinal extension, and described chain is placed in the cavity of chain guide.Its effect is relatively rotating between the link in restriction chain, guarantees that forward and backward body is in relative motion process, and chain can not affect mechanical drive because of the crimp between link.
Sidepiece at described chain arranges flange, and the correspondence position in described chain guide cavity arranges groove, and described flange is embedded in described groove.Its effect is to make chain guide spacing to chain better, effectively prevents the de-tooth of chain and sprocket wheel in working process, and limit chain along sprocket shaft to displacement.
Described chain is the first unidirectional bending chain, and described the first unidirectional bending chain bends towards sprocket wheel, and described chain guide is hard straight plate, and described hard straight plate is located at the side that described chain deviates from sprocket wheel.Described chain guide is the chain of the second unidirectional bending, and described the first and second bending chain dos-à-doss arrange.That is to say, chain guide can be replaced with another unidirectional bending chain.
In technique scheme, described flexible connecting member is control line or vacuum lamp.The material of described vacuum lamp can be selected soft silicon glue, rubber elastomeric material, and preferred soft silica gel, so that elastic deformation can occur along with the bending of chain vacuum lamp; Described control line comprises the wire such as power lead, signal wire (SW) attaching parts, and it can bind together in the accommodation space being interspersed in described chain with vacuum lamp.
That is to say, when the utility model is applied transmission of the present utility model and pipeline connecton layout on split type robot, described sprocket wheel is fixed on the output shaft in a point of body of robot, and the drive system being made up of DC machine and the drop-gear box of robot provides compared with high pulling torque output (output shaft and drive system are arranged in rear body conventionally); The front/rear end of described chain is individually fixed in front/rear body, is wherein arranged at rear the fixing of chain one end bending of same point of body with sprocket wheel.In the time that the forward and backward body of robot is done relative motion, because wire attaching parts is interspersed in the accommodation space in chain, be subject to the constraint of chain, therefore can not get muddled.The utility model can not only be that split type robotic delivery is compared with high thrust, and reciprocating travel is larger, and the pipeline layouts such as vacuum lamp pipeline and power lead, control line are taken into account, both simplified the structure of robot, the wire attaching parts such as control line that has effectively solved again split type robot is easily disorderly, the problem of damage.
Claims (10)
1. a split type robot, comprise front body and rear body, it is characterized in that: described front body (001) is connected and is driven by chain sprocket mechanism with rear body (002), make described front body and rear body separate or close up, realize the wriggling walking of robot, front body and rear body are located at respectively in chain (2) front-end and back-end, sprocket wheel (3) is arranged at front body or rear body, chain periphery arranges a stop gear, under the effect of stop gear, each chain section conllinear between described sprocket wheel and chain rear end or chain front end; Described chain is provided with accommodation space, and described accommodation space holds the flexible connecting member between front body and rear body.
2. split type robot as claimed in claim 1, is characterized in that: described accommodation space is mutually connected and forms by the holding part being arranged on each chain section, described accommodation space both ends open.
3. split type robot as claimed in claim 1, is characterized in that: described holding part is to be provided with the parts of through hole or the U-shaped of part opening folder or C clamp.
4. split type robot as claimed in claim 1, it is characterized in that: described stop gear has free end and fixed end, described fixed end is fixed on front body (001) or rear body (002) is upper, and free end at least extends to the sprocket wheel place of rear body or front body.
5. split type robot as claimed in claim 4, is characterized in that: described stop gear is chain guide, and the cross-sectional plane of described chain guide is concave shape structure, forms cavity after longitudinal extension, and described chain (2) is placed in the cavity of chain guide.
6. split type robot as claimed in claim 5, is characterized in that: at the sidepiece of described chain (2), flange (201) is set, the correspondence position in described chain guide cavity arranges groove (101), and described flange is embedded in described groove.
7. split type robot as claimed in claim 5, it is characterized in that: described chain (2) is the first unidirectional bending chain, described the first unidirectional bending chain is towards sprocket wheel (3) bending, and described chain guide is hard straight plate (6), and described hard straight plate is located at the side that described chain deviates from sprocket wheel.
8. split type robot as claimed in claim 7, is characterized in that: described chain guide is the chain of the second unidirectional bending, and described the first and second bending chain dos-à-doss arrange.
9. split type robot as claimed in claim 1, is characterized in that: described flexible connecting member is control line or vacuum lamp.
10. split type robot as claimed in claim 9, is characterized in that: described vacuum lamp material is soft silica gel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320740212.4U CN203612094U (en) | 2013-11-20 | 2013-11-20 | Split type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320740212.4U CN203612094U (en) | 2013-11-20 | 2013-11-20 | Split type robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203612094U true CN203612094U (en) | 2014-05-28 |
Family
ID=50764760
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320740212.4U Expired - Lifetime CN203612094U (en) | 2013-11-20 | 2013-11-20 | Split type robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203612094U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104648505A (en) * | 2013-11-20 | 2015-05-27 | 苏州科沃斯商用机器人有限公司 | Split type robot |
-
2013
- 2013-11-20 CN CN201320740212.4U patent/CN203612094U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104648505A (en) * | 2013-11-20 | 2015-05-27 | 苏州科沃斯商用机器人有限公司 | Split type robot |
| WO2015074564A1 (en) * | 2013-11-20 | 2015-05-28 | 苏州科沃斯商用机器人有限公司 | Split type robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP03 | Change of name, title or address |
Address after: Wuzhong Economic Development Zone in Suzhou City, Jiangsu Province, the River Street 215104 Youxiang Road No. 18 building 3 Patentee after: ECOVACS COMMERCIAL ROBOTICS Co.,Ltd. Address before: Wuzhong District Wuzhong Economic Development Zone Suzhou city Jiangsu province 215104 the River Street Youxiang Road No. 18 building 3 Patentee before: SUZHOU ECOVACS COMMERCIAL ROBOT Co.,Ltd. |
|
| CX01 | Expiry of patent term |
Granted publication date: 20140528 |
|
| CX01 | Expiry of patent term |