CN203766925U - Split robot - Google Patents
Split robot Download PDFInfo
- Publication number
- CN203766925U CN203766925U CN201320736726.2U CN201320736726U CN203766925U CN 203766925 U CN203766925 U CN 203766925U CN 201320736726 U CN201320736726 U CN 201320736726U CN 203766925 U CN203766925 U CN 203766925U
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- China
- Prior art keywords
- split
- rear body
- robot
- front body
- limiting unit
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 230000000903 blocking effect Effects 0.000 claims description 14
- 230000002401 inhibitory effect Effects 0.000 claims description 10
- 230000005674 electromagnetic induction Effects 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 3
- 230000007812 deficiency Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Abstract
A split robot comprises a front machine body (1), a rear machine body (2) and a travelling mechanism (3), wherein the front machine body is connected with the rear machine body through the travelling mechanism, the travelling mechanism drives the front machine body and the rear machine body to move to be close to each other or to move to be away from each other, and therefore travelling of the split robot is achieved. The split robot is characterized in that the travelling mechanism is provided with a limiting device used for limiting the distance between the front machine body and the rear machine body. According to the split robot, due to the limiting device, the phenomenon that because the split robot goes beyond the limited position, the split robot is damaged is avoided.
Description
Technical field
The utility model relates to a kind of split robot, belongs to small household appliances manufacturing technology field.
Background technology
Existing split robot is comprising split type split robot, and split type split robot generally comprises front machine and rear machine; When operation, the motion that front machine is relatively drawn close or separated by actuating device with rear machine, realizes the creeping motion type of split robot and advances.But the front machine of split robot is relatively drawn close or separated with rear machine is to have certain restriction distance, this restriction distance is stored in the control mechanism of split robot, sends control command signal to actuating device by control mechanism.
But daily in service; there will be unavoidably the situation that mis-calculate or calculation deviation are larger; after the restriction distance that will cause like this split robot to reach in the time advancing relatively drawing close or separate, the action of drawing close or separating still continuing, therefore causes the damage to machine.
Utility model content
Technical problem to be solved in the utility model is, provides a kind of split robot for the deficiencies in the prior art, by stop gear, makes split robot avoid the infringement causing because exceeding spacing distance.
Technical problem to be solved in the utility model is achieved by the following technical solution:
A kind of split robot, comprise: front body, rear body and traveling gear, described front body is connected with rear body by described traveling gear, traveling gear drives described front body and rear body in opposite directions or realizes the walking of split robot from motion, and described traveling gear is equipped with the inhibiting device for limiting described front body and rear body distance.
Better, described inhibiting device comprises: for limiting two body move toward one another to the first position-limiting unit of the first distance with for limiting two bodies from the second position-limiting unit that moves to second distance.
Wherein, described the first position-limiting unit and the second position-limiting unit are: stroke switchgear, infrared inductor or electromagnetic induction device.
For split robot is better moved, described traveling gear comprises: control setup, motor and reciprocator, described motor receives the control signal that described control setup sends, and drives described reciprocator to drive front body and rear body move or stop.
Wherein, in the time that the first position-limiting unit in described inhibiting device or the second position-limiting unit are triggered, described control setup receives the signal that the first position-limiting unit or the second position-limiting unit send, and drive reciprocator to drive front body and rear body move toward one another or from motion by described motor, or control front body and rear body stops.
Concrete, described reciprocator is: screw-nut body, pinion and rack, piston crank mechanism or screw rod telescoping mechanism.
Described reciprocator comprises: fixed parts and moving-member, described fixed parts is fixed on described front body or rear body, corresponding described fixed parts and the rear body of connecting of described moving-member.
Preferably, described reciprocator also comprises: link, described moving-member is also connected with rear body by link.
Preferably, described link is pipe link, and described pipe link two ends are hinged with described moving-member and described rear body respectively.
In addition, on described front body and rear body, be respectively equipped with blocking device, described blocking device receives the locking signal that described control setup sends, locked with respect to running surface to described front body or rear body.
Described split machine artificially adsorbs split robot, and described blocking device is vacuum cup.
Split machine of the present utility model artificially adsorbs split robot, and described blocking device is vacuum cup.
In sum, the split robot that the utility model provides, by stop gear, makes split robot avoid the infringement causing because exceeding spacing distance.
Below in conjunction with the drawings and specific embodiments, the technical solution of the utility model is described in detail.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model split robot;
Fig. 2 is the structural representation that the front body of the utility model split robot separates with rear body;
Fig. 3 is that the utility model split machine is manually made principle steps figure.
Detailed description of the invention
Fig. 1 is the structural representation of the utility model split robot, as shown in Figure 1, the utility model provides a kind of split robot to comprise: front body 1, rear body 2 and traveling gear, described front body 1 is connected with rear body 2 by described traveling gear, traveling gear drives described front body 1 and rear body 2 in opposite directions or realizes the walking of split robot from motion, is equipped with the inhibiting device for limiting described front body and rear body distance at traveling gear 3.
Described inhibiting device comprises: for limiting two body move toward one another to the first position-limiting unit 311 of the first distance with for limiting two bodies from the second position-limiting unit 312 that moves to second distance, wherein said the first position-limiting unit 311 and the second position-limiting unit 312 are: stroke switchgear, infrared inductor or electromagnetic induction device.
Described traveling gear comprises: control setup (not shown), motor 33 and reciprocator 34, described motor 33 receives the control signal that described control setup sends, and drives described reciprocator 34 to drive front body 1 and rear body 2 move or stop; Described reciprocator 34 is: screw-nut body, pinion and rack, piston crank mechanism or screw rod telescoping mechanism.Particularly, in the course of the work, in the time that the first position-limiting unit 311 in described inhibiting device or the second position-limiting unit 312 are triggered, described control setup receives the signal that the first position-limiting unit 311 or the second position-limiting unit 312 send, and drive reciprocator 34 to drive front bodies 1 and rear body 2 move toward one another or from motion by described motor 33, or the front body 1 of control and rear body 2 stop.
Described reciprocator 34 comprises: fixed parts 341, moving-member 343 and link 342, described fixed parts 341 is fixed on described front body 1 or rear body 2, described moving-member 343 correspondences are connected and fixed parts 341 and rear body 2 or front body 1, described moving-member 343 is also connected with rear body 2 or front body 1 by link 342, described link 342 is pipe link, and described pipe link two ends are hinged with described moving-member 343 and described rear body 2 respectively.
In addition, on mmi machine body 1 and rear body 2, be respectively equipped with blocking device (not shown), described blocking device receives the locking signal that described control setup sends, locked with respect to running surface to described front body 1 or rear body 2.
In the utility model, described split machine artificially adsorbs split robot, and described blocking device is vacuum cup.
Fig. 2 is the structural representation that the front body of the utility model split robot separates with rear body; Fig. 3 is that the utility model split machine is manually made principle steps figure, please refer to shown in Fig. 1-3, connects front body, rear body as example taking feed screw nut, and its principle of work of split robot of the present utility model is as follows:
S1: the locked signal that blocking device receiving control device sends, and by locked rear body 2 fixing;
S2: the actuation signal that motor 33 receiving control devices send, and before driving reciprocator 34 to drive, the relatively rear body 2 of body 1 travels forward, now, nut 343 moves along the axial rearward end of screw mandrel 341;
S3: nut 343 triggers the first position-limiting unit 311, described the first position-limiting unit 311 sends signal to control setup, described control setup receives signal and sends danger signal to motor 33, the danger signal that described motor 33 receiving control devices send, control reciprocator 34 stops driving the operation of front body 1;
S4: the signal that blocking device receiving control device sends, by locked front body 1 fix and discharge after body 2;
S5: the actuation signal that motor 33 receiving control devices send, and after driving reciprocator 34 to drive body 2 forward body 1 draw close, now, nut 343 moves along the axial forward end of screw mandrel 341;
S6: nut triggers the second position-limiting unit 312, described the second position-limiting unit 312 sends signal to control setup, described control setup receives signal and sends danger signal to motor, the danger signal that described motor 33 receiving control devices send, controls after reciprocator stops driving the operation of rear body 2 and carries out S1.
In the time that nut moves to the front end of screw mandrel or back segment, trigger in time the second position-limiting unit 312 or the first position-limiting unit 311, stop operating or rotate backward thereby control motor, avoid damaging leading screw and nut mechanism or drive motor.
The split robot that the utility model provides, by inhibiting device, makes split robot avoid the infringement causing because exceeding spacing distance.
Claims (13)
1. a split robot, comprise: front body (1), rear body (2) and traveling gear (3), described front body (1) is connected with rear body (2) by described traveling gear (3), traveling gear (3) drives described front body (1) and rear body (2) in opposite directions or realizes the walking of split robot from motion, it is characterized in that, described traveling gear (3) is equipped with the inhibiting device for limiting described front body and rear body distance.
2. split robot as claimed in claim 1, it is characterized in that, described inhibiting device comprises: for limiting two body move toward one another to first position-limiting unit (311) of the first distance with for limiting two bodies from the second position-limiting unit (312) that moves to second distance.
3. split robot as claimed in claim 2, is characterized in that, described the first position-limiting unit (311) and the second position-limiting unit (312) are: stroke switchgear, infrared inductor or electromagnetic induction device.
4. the split robot as described in claim 1-3 any one, it is characterized in that, described traveling gear comprises: control setup, motor (33) and reciprocator (34), described motor (33) receives the control signal that described control setup sends, and drives described reciprocator (34) to drive front body (1) and rear body (2) move or stop.
5. split robot as claimed in claim 4, it is characterized in that, in the time that the first position-limiting unit (311) in described inhibiting device or the second position-limiting unit (312) are triggered, described control setup receives the signal that the first position-limiting unit (311) or the second position-limiting unit (312) send, drive reciprocator (34) to drive front body (1) and rear body (2) move toward one another or from motion by described motor (33), or the front body of control (1) and rear body (2) stop.
6. split robot as claimed in claim 5, is characterized in that, described reciprocator (34) is: screw-nut body, pinion and rack, piston crank mechanism or screw rod telescoping mechanism.
7. split robot as claimed in claim 6, it is characterized in that, described reciprocator (34) comprising: fixed parts (341) and moving-member (343), described fixed parts (341) is fixed on described front body (1) or rear body (2) is upper, and described moving-member (343) correspondence is connected and fixed parts (341) and rear body (2) or front body (1).
8. split robot as claimed in claim 7, it is characterized in that, described reciprocator (34) also comprises: link (342), described moving-member (343) is also connected by link (342) and rear body (2) front body (1) alive.
9. split robot as claimed in claim 8, is characterized in that, described link (342) is pipe link, and described pipe link two ends are hinged with described moving-member (343) and described rear body (2) respectively.
10. split robot as claimed in claim 9, it is characterized in that, on described front body (1) and rear body (2), be respectively equipped with blocking device, described blocking device receives the locking signal that described control setup sends, locked with respect to running surface to described front body (1) or rear body (2).
11. split robots as described in claim 1-3 any one, is characterized in that, described split machine artificially adsorbs split robot, and described blocking device is vacuum cup.
12. split robots as claimed in claim 4, is characterized in that, described split machine artificially adsorbs split robot, and described blocking device is vacuum cup.
13. split robots as described in claim 5-10 any one, is characterized in that, described split machine artificially adsorbs split robot, and described blocking device is vacuum cup.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320736726.2U CN203766925U (en) | 2013-11-20 | 2013-11-20 | Split robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320736726.2U CN203766925U (en) | 2013-11-20 | 2013-11-20 | Split robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203766925U true CN203766925U (en) | 2014-08-13 |
Family
ID=51284149
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320736726.2U Expired - Lifetime CN203766925U (en) | 2013-11-20 | 2013-11-20 | Split robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203766925U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263457A (en) * | 2017-06-22 | 2017-10-20 | 清华大学 | Split type robot and combinations thereof, separation method |
| CN107802203A (en) * | 2017-11-29 | 2018-03-16 | 广东宝乐机器人股份有限公司 | Window cleaning robot with safety detection function |
-
2013
- 2013-11-20 CN CN201320736726.2U patent/CN203766925U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263457A (en) * | 2017-06-22 | 2017-10-20 | 清华大学 | Split type robot and combinations thereof, separation method |
| CN107802203A (en) * | 2017-11-29 | 2018-03-16 | 广东宝乐机器人股份有限公司 | Window cleaning robot with safety detection function |
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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: 20140813 |
|
| CX01 | Expiry of patent term |