WO2015074559A1

WO2015074559A1 - Split-type robot

Info

Publication number: WO2015074559A1
Application number: PCT/CN2014/091618
Authority: WO
Inventors: 杨敏敏
Original assignee: 苏州科沃斯商用机器人有限公司
Priority date: 2013-11-20
Filing date: 2014-11-19
Publication date: 2015-05-28
Also published as: CN104647348B; CN104647348A

Abstract

A split-type robot can limit radial swing of a front machine body and a rear machine body but does not influence floating of the machine bodies along a direction perpendicular to a working surface, and can alleviate radial swing of the machine bodies and enable the machine bodies to be connected more stably. The split-type robot comprises a first machine body (1) and a second machine body (2), wherein the first machine body (1) and the second machine body (2) are connected by a driving mechanism, and walking is implemented by the driving mechanism that drives the first machine body (1) and the second machine body (2) to be separated or closed. The robot further comprises a sliding guide rod (3), having a connection end (8) and a free end (9), wherein the free end (9) is embedded in a guide rod accommodating cavity (4) provided in the first machine body (1); the connection end (8) is connected to the second machine body (2); the guide rod accommodating cavity (4) is provided with a top wall and a bottom wall that are relative to a working surface and a left side wall and a right side wall that are parallel to a walking direction; and a displacement space is allowed between the sliding guide rod (3) and the top wall and bottom wall, and the sliding guide rod (3) abuts against both the left side wall and the right side wall.

Description

Split robot

Technical field

The present invention relates to a split type robot, such as a split type cleaning robot, that realizes walking by opening and closing a front body and a rear body.

Background technique

At present, the existing split type robot generally includes a front body and a rear body which are relatively movable, and the driving mechanism drives the front body and the rear body to be relatively close or separated, thereby realizing the peristaltic walking of the robot. However, the front body and the rear body are connected only by the driving mechanism, and the radial connection is not very stable. When the two bodies are separated, the radial swing of the body along the driving rod is large, which is not conducive to the straight walking of the body, and is easy to drive the mechanism. Causes damage and seriously reduces the life of the drive mechanism.

In order to solve the above problem, it is common practice to add a sliding guide of the shaft hole type between the two bodies. However, split-type robots sometimes need to have the ability to cross steps according to the needs of the work. Setting such sliding guides will limit the floating of the two bodies in the direction perpendicular to the working surface, so a better solution needs to be solved.

In addition, in a split type robot that relies on a driving mechanism such as a screw to open and close the front and rear bodies to achieve walking, since the connection between the front and rear bodies is basically only a screw and a nut, the connection in other places hinders the movement between the two bodies. The connection gap between the lead screw and the nut is large, and the connection length is short, and the radial connection is not very stable. When the two bodies are respectively connected and separated, the radial movement of the two bodies along the drive rod is very large, so that Not conducive to the straight line of the machine. Especially for cleaning robots that walk in this way, it is very detrimental to their automatic control and seriously affects the cleaning effect.

Summary of the invention

In view of the above problems, an object of the present invention is to provide a split type robot which can restrict the radial swing of the front and rear bodies without affecting the floating of the body in a direction perpendicular to the working surface, thereby improving the radial swing of the body and making the body connection more stable. .

The split type robot of the present invention comprises a first body and a second body, wherein the first body and the second body are connected by a driving mechanism, and the driving mechanism drives the first body and the second body to be separated to realize walking. Wherein the split type robot further includes a sliding guide rod having a connecting end and a free end, the free end being fitted into the guiding rod receiving cavity provided by the first body, a connection end is connected to the second body, The guide rod accommodating cavity is provided with a top wall and a bottom wall with respect to the working surface, and left and right side walls parallel to the walking direction, and the sliding guide bar has a displacement space between the top wall and the bottom wall. And the left and right side walls are both offset.

In order not to affect the floating of the body in a direction perpendicular to the working surface, it is preferred that the connecting end of the sliding guide is rotatably coupled to the second body such that the free end can swing in a direction perpendicular to the working surface. Or the connecting end of the sliding guide rod is fixedly connected with the second body such that the free end can be relatively displaced with the first body in a direction perpendicular to the working surface.

As a specific structure for realizing the above effects of the present invention, it is preferable that the sliding guide rod is constituted by a bracket and a rotating member, the rotating member is rotatably engaged with the bracket, and the rotating member abuts against the guide rod The left and right side walls of the cavity are placed to limit the radial oscillation of the body. Further, it is preferable that the number of the rotating members is plural and spaced apart on the bracket.

As a preferred embodiment, the rotating member is a roller, and the rotating shaft of the roller is perpendicular to the working surface.

The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

DRAWINGS

1 is an overall structural view of a split type robot according to the present invention, showing a state in which the front and rear bodies are separated;

2 is a side elevational view of the split type robot of the present invention as seen from the side rear side, showing a state in which the front and rear bodies are separated;

Figure 3 is an exploded perspective view of the sliding guide of the present invention;

Figure 4 is a plan view of the sliding guide of the present invention;

Figure 5 is a schematic view showing the installation of the sliding guide of the present invention;

Fig. 6 is a schematic cross-sectional view showing the front body of the present invention after the sliding guide is mounted.

detailed description

The technical solution of the split type robot of the present invention will be described in detail below with reference to FIG. 1 to FIG. 6. For convenience of understanding, the radial direction described below refers to the left and right direction in FIG. 6, and the direction perpendicular to the working surface refers to FIG. Up and down direction.

1 is a view showing an overall configuration of a split type robot according to the present invention, showing a state in which the front and rear bodies are separated. FIG. 2 is an overall side view of the split type robot according to the present invention as seen from the side rear side, showing a state in which the front and rear bodies are separated. As shown in FIG. 1 and FIG. 2, the split type robot includes a front body 1 and a rear body 2. The front body 1 and the rear body 2 are connected by a screw nut mechanism, and the front and rear bodies are driven by the screw nut mechanism. To achieve walking. The screw nut mechanism has a lead screw 5, and two sliding guides 3 are provided on both sides in the radial direction of the lead screw 5.

Figure 3 is an exploded perspective view of the sliding guide of the present invention; Figure 4 is a plan view of the sliding guide of the present invention; 5 is a schematic view of the installation of the sliding guide of the present invention. As shown in FIG. 3 and FIG. 4 and in conjunction with FIG. 5, the sliding guide 3 includes a metal bracket 6 and a roller 7. The metal bracket 6 includes a connecting end 8 and a free end 9. The connecting end 8 is fixedly connected to the rear body 2. When the current body 1 and the rear body 2 are relatively displaced in a direction perpendicular to the working surface, the free end 9 can be displaced relative to the front body 1 in a direction perpendicular to the working surface. Of course, it can also pass through the pivot and the bearing. The rotatably connected members enable the guide rod 3 to rotate (pivot oscillate) in a plane perpendicular to the working surface. The plurality of rollers 7 are arranged to be rotatably engaged with the metal bracket 6, and the rotating shaft of the roller 7 is perpendicular to the working surface. FIG. 6 is a schematic cross-sectional view of the front body after the sliding guide rod of the present invention is installed, as shown in FIG. 4 and As shown in Fig. 6, a part of the roller 7 projects from the left and right sides of the metal bracket 6.

In addition, the housing of the front body 1 is further provided with a guide rod receiving cavity 4 for accommodating the sliding guide rod 3. As shown in FIG. 6, the free end 9 of the metal bracket 6 is fitted to the guide rod for accommodation. The cavity 4 and the roller 7 abut against the left and right side walls of the guide rod accommodating cavity 4. When the front body 1 and the rear body 2 are relatively moved by the screw nut mechanism, the slide guide 3 and the guide rod accommodation cavity 4 slide relative to each other in the traveling direction of the body. During this process, the roller 7 can rotate along the left and right side walls of the guide rod accommodating cavity 4, which greatly reduces the relative movement of the sliding guide rod 3 and the side wall of the guide rod accommodating cavity 4. Friction. In addition, there is a displacement space between the upper and lower sides of the sliding guide rod 3 and the upper and lower walls of the guiding rod accommodating cavity 4, and the metal bracket 6 is when the current body 1 and the rear body 2 are relatively displaced in a direction perpendicular to the working surface. The free end 9 moves up and down within the displacement space such that the front body 1 and the rear body 2 can float in a direction perpendicular to the work surface.

As described above, according to the present invention, a slide guide 3 is provided on both sides of the lead screw 5 for connecting the screw nut mechanism of the front body 1 and the rear body 2, respectively, and the front and

rear bodies

1, 2 of the split type robot. After the separation, the support of the two sliding guides 3 reduces the radial oscillation of the front and

rear bodies

1 and 2 to a small extent, thereby preventing a large radial swing after the front and

rear bodies

1 and 2 are separated, thereby improving the body. Radial swing and make the body connection more stable. In particular, when the split type robot of the present invention is applied to a split type cleaning robot, it is easy to perform automatic control and improve the cleaning effect.

The embodiments of the present invention have been described above with reference to the accompanying drawings, and it should be emphasized that this embodiment is only one of the preferred embodiments of the present invention, and the scope of the present invention is not limited by the embodiments. In addition, in the process of implementing the present invention, those skilled in the art can select an appropriate technical solution according to the specific characteristics of the working object. For example, in the above embodiment, it is explained that the guide body accommodating cavity 4 is provided in the front body 1, the free end side of the metal bracket 6 is fitted to the guide rod accommodating cavity 4, and the connection end of the metal bracket 6 is provided. 8 is connected to the rear body 2. However, in contrast to this, the guide receiving cavity 4 is provided in the rear body 2, and the connecting end 8 of the metal bracket 6 is connected to the front body 1.

For another example, in the above embodiment, the roller 7 is rotatably engaged with the metal bracket 6, but only The guide rod can accommodate the rotating member that the left and right side walls of the cavity 4 abut. In summary, any deduction made on the basis of the technical solution claimed by the present invention is within the scope of the present invention.

Claims

A split type robot comprising a first body (1) and a second body (2), wherein the first body (1) and the second body (2) are connected by a driving mechanism, and the driving mechanism drives the A body (1) and a second body (2) are separated to achieve walking, and the split type robot is characterized in that

Further comprising a sliding guide (3) having a connecting end (8) and a free end (9), the free end (9) being fitted to the first body (1) a guiding rod is received in the cavity (4), and the connecting end (8) is connected to the second body (2),

The guide receiving cavity (4) is provided with a top wall and a bottom wall with respect to the working surface, and left and right side walls parallel to the walking direction, the sliding guide (3) and the top wall, The bottom wall has a displacement space and is offset from the left and right side walls.
The split robot according to claim 1, wherein a connecting end (8) of the sliding guide (3) is rotatably coupled to the second body (2) such that the free end (9) ) can swing in a direction perpendicular to the working surface.
The split robot according to claim 1, wherein a connecting end (8) of the sliding guide (3) is fixedly coupled to the second body (2) such that the free end (9) can Relative to the first body (1) in a direction perpendicular to the working surface.
The split type robot according to any one of claims 1 to 3, characterized in that

The sliding guide (3) is composed of a bracket (6) and a rotating member (7, 10), and the rotating member (7, 10) is rotatably engaged with the bracket (6).

The rotating members (7, 10) abut against the left and right side walls of the guiding rod receiving cavity (4) to limit the radial swing of the body.
The split type robot according to claim 4, wherein the number of the rotating members (7, 10) is plural and spaced apart from the bracket (6).
The split robot according to claim 4, characterized in that the rotating member (7, 10) is a roller (7) whose axis of rotation is perpendicular to the working surface.