WO2015074564A1 - 分体式机器人 - Google Patents

分体式机器人 Download PDF

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Publication number
WO2015074564A1
WO2015074564A1 PCT/CN2014/091665 CN2014091665W WO2015074564A1 WO 2015074564 A1 WO2015074564 A1 WO 2015074564A1 CN 2014091665 W CN2014091665 W CN 2014091665W WO 2015074564 A1 WO2015074564 A1 WO 2015074564A1
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WO
WIPO (PCT)
Prior art keywords
chain
sprocket
robot body
split type
disposed
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PCT/CN2014/091665
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English (en)
French (fr)
Inventor
程洪坤
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苏州科沃斯商用机器人有限公司
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Publication of WO2015074564A1 publication Critical patent/WO2015074564A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members

Definitions

  • the invention relates to the field of robot technology, in particular to a split type robot, belonging to the technical field of home appliance manufacturing.
  • split-type robots such as split wall cleaning robots
  • two relatively movable extension bodies also known as front/rear bodies
  • the transmission unit is typically a spindle nut, a rack and pinion or a cam crankshaft.
  • the above-mentioned transmission unit for the split type robot has some disadvantages: for example, the screw nut transmission efficiency is low, and the transmission thrust is small; for example, the cam crankshaft reciprocating stroke is relatively small, limited by the size of the part itself, and has no flexibility. Adjustment function.
  • line connectors such as power lines and signal lines between the two parts of the body, and the movement mode of the split type machine determines that the line connectors cannot be fixedly arranged, and the line
  • the connecting members are generally long, so that they are easily turbulent, and as the body reciprocates, the linear connecting members are repeatedly stretched and folded, and are easily damaged.
  • the object of the present invention is to provide a split type robot which can not only transmit a large thrust for a split type robot but also has a large reciprocating stroke, and also takes care of the vacuum tube of the split type robot.
  • Pipeline layouts such as roads and control lines overcome the deficiencies of the prior art described above.
  • a split type robot comprising a front body and a rear body, wherein the front body and the rear body are connected and driven by a chain sprocket mechanism, so that the front body and the rear body are separated or closed to realize creeping walking of the robot, the front end of the chain and The rear end is respectively disposed on the front body and the rear body, the sprocket is disposed on the front body or the rear body, and a limiting mechanism is disposed on the outer circumference of the chain. Under the action of the limiting mechanism, the sprocket and the chain rear end or the chain front end The respective chain links are collinear; the chain is provided with an accommodating space, and the accommodating space accommodates a flexible connecting member between the front body and the rear body.
  • the accommodating space is formed by the accommodating portions disposed on each of the chain links, and the accommodating spaces are open at both ends.
  • the accommodating portion is a member provided with a through hole or a partially opened clevis or C-clip.
  • the limiting mechanism has a free end and a fixed end, and the fixed end is fixed to the front body or On the rear body, the free end extends at least to the sprocket of the rear body or the front body.
  • the limiting mechanism is a chain guide as needed.
  • the chain guide has a concave-shaped structure in cross section, and a longitudinal cavity extends to form a cavity, and the chain is placed in a cavity of the chain guide. Its function is to limit the relative rotation between the links in the chain, and to ensure that the chain does not affect the mechanical transmission due to the extrusion deformation between the links during the relative movement of the front and rear bodies.
  • a flange is provided on a side of the chain, and a groove is provided at a corresponding position in the cavity of the chain guide, and the flange is embedded in the groove. Its function is to make the chain guide better limit the chain, effectively prevent the chain and the sprocket from being dislocated during the working process, and limit the displacement of the chain along the axial direction of the sprocket.
  • the chain is a first one-way bending chain, the first one-way bending chain is bent toward a sprocket, the chain guide is a hard straight plate, and the hard straight plate is disposed on a side of the chain away from the sprocket .
  • the chain guide is a second one-way bent chain, and the first and second bent chains are disposed back to back. That is, the chain guide can be replaced with another one-way bent chain.
  • the flexible connecting member is a control wire or a vacuum tube; the material thereof is soft silica gel.
  • the material of the vacuum tube may be an elastic material such as soft silicone rubber or rubber, preferably soft silicone rubber, so that the vacuum tube can be elastically deformed as the chain bends;
  • the control line includes a wire connecting member such as a power line and a signal line. It can be bound to the vacuum tube and inserted into the accommodating space in the chain.
  • the sprocket is fixed on the output shaft of an extension body of the robot, and is driven by the DC motor and the reduction gear box of the robot.
  • the system provides a large torque output (the output shaft and the drive system are usually disposed in the rear body); the front/rear ends of the chain are respectively fixed in the front/rear body, wherein the chain end of the chain with the sprocket disposed at the same extension body is bent Fixed after folding.
  • the utility model can not only transmit a large thrust for the split type robot, but also has a large reciprocating stroke, and takes into consideration the pipeline layout of the vacuum tube line, the power line and the control line, which simplifies the structure of the robot and is effective.
  • the problem that the linear connector such as the control line of the split robot is easy to be disordered and damaged is solved.
  • Embodiment 1 is a schematic structural view of Embodiment 1 of the present invention.
  • Figure 2 is a schematic view of a chain guide in the first embodiment of the present invention.
  • Figure 3 is a partial enlarged view of Figure 1;
  • Figure 4 is a cross-sectional view of the chain in the first embodiment of the present invention.
  • Figure 5 is a schematic view of a chain in the first embodiment of the present invention.
  • Figure 6 is a schematic structural view of Embodiment 2 of the present invention.
  • Figure 7 is a schematic structural view of Embodiment 3 of the present invention.
  • Figure 8 is a cross-sectional view showing the structure of a double chain in the third embodiment of the present invention.
  • FIG. 1 is a schematic structural view of a first embodiment of the present invention
  • FIG. 4 is a cross-sectional view of the chain in the first embodiment of the present invention.
  • a transmission and pipeline wiring device of a split type robot includes a chain guide 1, a chain 2, a sprocket 3, a vacuum tube 4, and a control line 5, and each chain section of the chain 2
  • the accommodating spaces which are open at both ends are formed in the chain, and the vacuum tube 4 and the control line 5 are inserted into the accommodating space in the chain 2 .
  • the front end of the chain 2 is fixed in the front body 001, and the rear end of the chain 2 is bent and fixed in the rear body 002, and the bent end faces the sprocket.
  • the direction of 3 is bent.
  • the DC motor and the reduction box of the robot (not shown in the prior art) are also placed in the rear body 002.
  • the sprocket 3 is disposed on the output shaft in the rear body 002, and functions to drive the chain 2
  • the front body 001 and the rear body 002 are moved relative to each other.
  • the force of the part of the chain 2 between the two bodies is the pulling force.
  • the chain 2 The force placed between the two bodies is the pressure.
  • the pressure is transmitted.
  • the part of the chain 2 between the front body 001 and the rear body 002 is restricted to the same straight line, so that the chain The knots cannot rotate relative to each other.
  • the embodiment adopts the chain 2 between the front body 001 and the rear body 002.
  • Fig. 5 is a schematic view of a chain in the first embodiment of the present invention. As shown in Figures 4 and 5, the side of the chain 2 is also provided with a flange 201.
  • Figure 2 is a schematic view of a chain guide in the first embodiment of the present invention; and Figure 3 is a partial enlarged view of Figure 1. As shown in FIG. 2 and FIG. 3, a groove 101 is further provided at a corresponding position in the cavity of the chain guide 1.
  • the flange 201 is embedded in In the groove 101, this The structure can effectively restrain the chain 2 in a straight line, ensuring that the chain 2 is not bent and deformed when pressed, and the chain 2 itself can only be bent in one direction in order to make the chain 2 transmit power more efficiently. It should be noted that the selection of the unidirectional bending chain in this embodiment is only a preferred embodiment, and any bent chain can meet the technical requirements of the solution.
  • Fig. 6 is a schematic structural view of a second embodiment of the present invention.
  • the structure of the present embodiment is similar to that of the first embodiment, except that in the embodiment, the chain 2 itself can only be bent in one direction, that is, the embodiment can only be unidirectional.
  • the bent chain (bending clockwise or counterclockwise) and the accommodating portions of the respective links pass through each other to form an accommodating space. Since the chain 2 can only be bent in one direction, the chain bending direction is set toward the sprocket. Therefore, it is only necessary to provide a chain baffle 6 on the side of the chain away from the sprocket to position the chain 2 in the front body 001 and the rear body 002. The partial limit between them is in a straight line.
  • the chain baffle 6 is a rigid straight plate disposed on the side of the chain 2 facing away from the sprocket, and functions as the chain guide 1 in the first embodiment, so that the chain baffle 6 can be regarded as a simplified chain guide.
  • the embodiment limits the chain to a straight line by the characteristics of the chain itself and the chain guide of a rigid straight structure, and has a simple structure and is easy to assemble.
  • Figure 7 is a schematic structural view of a third embodiment of the present invention
  • Figure 8 is a cross-sectional view of the double-chain structure of the third embodiment of the present invention.
  • the basic structure of the embodiment is similar to that of the second embodiment. The difference is that the chain guide is replaced by another chain that can be bent in one direction, and the two chains are arranged back to back. The chain is simultaneously constrained in a straight line.
  • the chain bending of the two chains can be achieved by the two unidirectionally bent chain fittings, and the chain guides are omitted, and the two chains can accommodate more flexible connecting members between the two bodies.
  • the present invention provides a split type robot comprising a front body 001 and a rear body 002, the front body and the rear body being connected and driven by a chain sprocket mechanism such that the front body and the rear body The body is separated or closed to realize the peristaltic walking of the robot.
  • the front end and the rear end of the chain 2 are respectively disposed on the front body 001 and the rear body 002.
  • the sprocket 3 is disposed on the front body 001 or the rear body 002, and the chain 2 is provided with a limiting mechanism on the outer circumference.
  • the chain wheel 3 and the chain end between the rear end of the chain 2 or the front end of the chain 2 are collinear; the chain links of the chain are provided with mutually accommodating portions, in the chain
  • An accommodating space is formed in the two ends, and the accommodating space accommodates a flexible connecting member between the front body and the rear body.
  • the housing can be in each chain section It is also possible to provide a receiving portion on a part of the chain link as needed, and the plurality of receiving portions penetrate each other to form an accommodating space.
  • the accommodating portion is a member provided with a through hole or a partially opened clevis or C-clip.
  • the limiting mechanism has a free end and a fixed end. The fixed end is fixed on the front body 001 or the rear body 002, and the free end extends at least to the rear body 002 or the sprocket of the front body 001.
  • the limiting mechanism is a chain guide 6 having a cross-sectional shape of a concave shape, and extending longitudinally to form a cavity, the chain being placed in a cavity of the chain guide. Its function is to limit the relative rotation between the links in the chain, and to ensure that the chain does not affect the mechanical transmission due to the extrusion deformation between the links during the relative movement of the front and rear bodies.
  • a flange is provided on a side of the chain, and a groove is provided at a corresponding position in the cavity of the chain guide, and the flange is embedded in the groove. Its function is to make the chain guide better limit the chain, effectively prevent the chain and the sprocket from being dislocated during the working process, and limit the displacement of the chain along the axial direction of the sprocket.
  • the chain is a first one-way bending chain, the first one-way bending chain is bent toward a sprocket, the chain guide is a hard straight plate, and the hard straight plate is disposed on a side of the chain away from the sprocket .
  • the chain guide is a second one-way bent chain, and the first and second bent chains are disposed back to back. That is, the chain guide can be replaced with another one-way bent chain.
  • the flexible connecting member is a control wire or a vacuum tube.
  • the material of the vacuum tube may be an elastic material such as soft silicone rubber or rubber, preferably soft silicone rubber, so that the vacuum tube can be elastically deformed as the chain bends;
  • the control line includes a wire connecting member such as a power line and a signal line. It can be bound to the vacuum tube and inserted into the accommodating space in the chain.
  • the sprocket is fixed on the output shaft of an extension body of the robot, and is driven by the DC motor and the reduction gear box of the robot.
  • the system provides a large torque output (the output shaft and the drive system are usually disposed in the rear body); the front/rear ends of the chain are respectively fixed in the front/rear body, wherein the chain end of the chain with the sprocket disposed at the same extension body is bent Fixed after folding.
  • the invention not only can transmit a large thrust for the split type robot, but also has a large reciprocating stroke, and takes into consideration the pipeline layout of the vacuum tube line, the power line and the control line, which simplifies the structure of the robot and effectively solves the split type robot.
  • the wire-like connector such as the control wire is prone to turbulence and damage.

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  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
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  • Mechanical Engineering (AREA)
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Abstract

一种分体式机器人，包含前机体（001）和后机体（002），前、后机体通过链条链轮机构连接并驱动，使得前机体（001）和后机体（002）分开或合拢，实现蠕动行走，链条（2）前端和后端分别设于前机体（001）和后机体（002），链轮（3）设置于前机体（001）或后机体（002），链条（2）外周配设限位机构，在限位机构的作用下，链轮（3）和链条后端或链条前端之间的各个链条节共线；链条（2）设有容置空间，容置空间容纳前机体（001）和后机体（002）间的柔性连接件。该分体式机器人不仅能传递较大推力，而且往复行程较大，兼顾真空管管路和电源线、控制线等管线布局，机器人结构简化，有效地解决了分体式机器人的控制线等线状连接件紊乱，损坏的问题。

Description

分体式机器人 技术领域
本发明涉及机器人技术领域，特别涉及一种分体式机器人，属于家电制造技术领域。
背景技术
现有的分体式机器人，例如分体式壁面清洁机器人，通常包含两个可相对运动的分机体(亦称为前/后机体)；可相对运动的两个分机体之间通过传动单元连接并驱动其相对运动。所述传动单元通常为丝杠螺母、齿轮齿条或凸轮曲轴。
上述用于分体式机器人的传动单元均存在某些不足：例如，丝杠螺母传动效率低，传递推力较小；又如，凸轮曲轴往复行程相对较小，受零件自身体积尺寸限制，不具备柔性调节功能。此外，根据分体式机器人的功能需求，其两分机体间一般还设有电源线、信号线等线状连接件，而分体式机器的运动方式决定了其线状连接件不能固定设置，且线状连接件为了满足两机体相对运动到最大距离的需要，通常较长，因此容易紊乱，且随着机体往复运动，线状连接件反复被拉伸与压折，极易损坏。
发明内容
鉴于上述现有技术所存在的缺陷，本发明的目的旨在提供一种分体式机器人，其不仅能为分体式机器人传递较大推力，而且往复行程较大，同时还兼顾分体式机器人的真空管管路和控制线等管线布局，从而克服上述现有技术所存在的缺陷。
本发明的目的是通过下述技术方案实现的：
一种分体式机器人，包含前机体和后机体，所述前机体和后机体通过链条链轮机构连接并驱动，使得所述前机体和后机体分开或合拢，实现机器人的蠕动行走，链条前端和后端分别设于前机体和后机体，链轮设置于前机体或后机体，链条外周配设一限位机构，在限位机构的作用下，所述链轮和链条后端或链条前端之间的各个链条节共线；所述链条设有容置空间，所述容置空间容纳前机体和后机体间的柔性连接件。
所述容置空间由设置在每个链条节上的容置部相互贯通而成，所述容置空间两端开口。
为了便于固定，所述容置部为设有通孔的部件或部分开口的U形夹或C形夹。
为了方便定位，所述限位机构具有自由端和固定端，所述固定端固定在前机体或 后机体上，自由端至少延伸至后机体或前机体的链轮处。
根据需要，所述限位机构为链条导板，所述链条导板的横截面为凹字形结构，纵向延伸后形成凹腔，所述链条置于链条导板的凹腔中。其作用是限制链条中的链结之间的相对转动，保证前、后机体在相对运动过程中，链条不会因链结间的挤压变形而影响机械传动。
在所述链条的侧部设置凸缘，在所述链条导板凹腔内的对应位置设置凹槽，所述凸缘嵌设于所述凹槽中。其作用是使链条导板更好地对链条限位，有效防止工作过程中链条与链轮脱齿，并限制链条沿链轮轴向的位移。
所述链条为第一单向弯折链条，所述第一单向弯折链条朝向链轮弯折，所述链条导板为硬直板，所述硬直板设于所述链条背离链轮的一侧。所述链条导板为第二单向弯折的链条，所述第一和第二弯折链条背靠背设置。也就是说，可以将链条导板用另一个单向弯折链条来代替。
在上述技术方案中，所述柔性连接件为控制线或真空管；其材料为软性硅胶。所述真空管的材质可选用软性硅胶、橡胶等弹性材料，优选软性硅胶，以便真空管可随着链条的弯曲而发生弹性形变；所述控制线包括电源线、信号线等线状连接件，其可与真空管绑定在一起穿插于所述链条内的容置空间中。
也就是说，本发明在分体式机器人上应用本发明的传动与管路布线装置时，所述链轮固定于机器人的一个分机体内的输出轴上，由机器人的直流电机和减速箱组成的驱动系统提供较大扭矩输出(输出轴和驱动系统通常设置在后机体内)；所述链条的前/后端分别固定于前/后机体内，其中与链轮设置于同一分机体的链条一端弯折后固定。在机器人的前、后机体作相对运动时，由于线状连接件穿插于链条内的容置空间中，受到链条的约束，因此不会发生紊乱。
本发明具有以下有益效果：其不仅能为分体式机器人传递较大推力，而且往复行程较大，并兼顾了真空管管路和电源线、控制线等管线布局，既简化了机器人的结构，又有效地解决了分体式机器人的控制线等线状连接件容易紊乱，损坏的问题。
下面结合附图和具体实施例，对本发明的技术方案进行详细地说明。
附图说明
图1是本发明实施例一的结构示意图；
图2是本发明实施例一中的链条导板的示意图；
图3是图1的局部放大图；
图4是本发明实施例一中的链条的横截面图；
图5是本发明实施例一中的链条的示意图；
图6是本发明实施例二的结构示意图；
图7是本发明实施例三的结构示意图；
图8是本发明实施例三中的双链条结构的横截面图。
具体实施方式
以下结合附图介绍本发明分体式机器人传动与管路布线装置的实施例。
实施例一
图1是本发明实施例一的结构示意图；图4是本发明实施例一中的链条的横截面图。如图1和图4所示，一种分体式机器人的传动与管路布线装置，其包括链条导板1、链条2、链轮3、真空管4、控制线5，所述链条2的各链条节之间相互贯通，在链条内形成两端开口的容置空间，所述真空管4、控制线5穿插于所述链条2内的容置空间中。
如图1所示，在本实施例中，所述链条2的前端固定在前机体001内，所述链条2的后端弯折后固定在后机体002内，且其弯折端朝向链轮3的方向弯折。机器人的直流电机和减速箱(因属于现有技术，图中未示出)也置于后机体002内，所述链轮3设置在后机体002内的输出轴上，其作用在于驱动链条2使前机体001和后机体002作相对运动。
当链轮3驱动链条2使前机体001和后机体002作相向运动时，链条2位于两分机体之间的部分的受力为拉力，当前机体001和后机体002作背向运动时，链条2位于两分机体之间的的受力为压力。链条2受压时为防止链结间沿链结旋转方向发生弯折变形影响压力的传递，需将链条2位于前机体001和后机体002之间的部分限制在同一条直线上，使其链结间无法相对转动。
为了将链条2位于前机体001和后机体002之间的部分限制在同一条直线上，使其链结间无法相对转动，本实施例采用了将链条2位于前机体001和后机体002之间的部分置于链条导板1的凹腔中的技术手段。
图5是本发明实施例一中的链条的示意图。如图4和图5所示，所述链条2的侧部还设置有凸缘201。图2是本发明实施例一中的链条导板的示意图；图3是图1的局部放大图。如图2和图3所示，在所述链条导板1凹腔内的对应位置还设置有凹槽101，当链条2置于链条导板1的凹腔中时，所述凸缘201嵌设于所述凹槽101中，这 种结构能有效地把链条2限位在一条直线上，确保链条2受压时不会弯折变形，为了使链条2更有效地传递动力，所述链条2本身仅能单向弯折。需要说明的是，在本实施例中选用单向弯折链条只是一优选的实施方式，任意弯折的链条均可满足本方案的技术要求。
实施例二
图6是本发明实施例二的结构示意图。所图6所示，本实施例的结构与实施例一相似，所不同的是，在本实施例中，所述链条2本身只能单向弯折，亦即本实施例选用只能单向弯折的链条(顺时针或逆时针弯折)，并使其各链接的容置部相互贯通，形成容置空间。由于链条2只能单向弯折，链条弯折方向朝向链轮设置，因此，仅需在链条背离链轮的一侧设置一链条挡板6即可将链条2位于前机体001和后机体002之间的部分限位在一条直线上。链条挡板6为一硬直板，设置于所述链条2背离链轮的一侧，其作用相当于实施例一中链条导板1，故可将链条挡板6视为简化了的链条导板。总之，实施例通过链条本身的特性和一硬直板结构的链条导板配合设置将链条限位在一条直线上，结构简单，易于装配。
实施例三
图7是本发明实施例三的结构示意图；图8是本发明实施例三中的双链条结构的横截面图。如图7和图8所示，本实施例的基本结构与实施例二近似，所不同的是，本实施例通过另一可单向弯折的链条代替链条导板，两链条背靠背设置，则两链条同时被限位在一条直线上。本实施例通过两条可单向弯折的链条配合设置实现对链条弯折的限位，省去了链条导板，且两链条可容置更多的两机体间的柔性连接件。
以上通过三个实施例，对本发明所提供的传动与管路布线装置的结构进行了详细地说明。结合图1至图8所示，本发明提供一种分体式机器人，包含前机体001和后机体002，所述前机体和后机体通过链条链轮机构连接并驱动，使得所述前机体和后机体分开或合拢，实现机器人的蠕动行走，链条2前端和后端分别设于前机体001和后机体002，链轮3设置于前机体001或后机体002，链条2外周配设一限位机构，在限位机构的作用下，所述链轮3和链条2后端或链条2前端之间的各个链条节共线；所述链条的各链条节设有相互贯通的容置部，在链条内形成两端开口的容置空间，所述容置空间容纳前机体和后机体间的柔性连接件。当然，容置部可以是在每个链条节 上都设置的，也可以根据需要，选择在部分链条节上设置容置部，多个容置部相互贯通形成容置空间。为了便于固定，所述容置部为设有通孔的部件或部分开口的U形夹或C形夹。为了方便定位，所述限位机构具有自由端和固定端，所述固定端固定在前机体001或后机体002上，自由端至少延伸至后机体002或前机体001的链轮处。
根据需要，所述限位机构为链条导板6，所述链条导板6的横截面为凹字形结构，纵向延伸后形成凹腔，所述链条置于链条导板的凹腔中。其作用是限制链条中的链结之间的相对转动，保证前、后机体在相对运动过程中，链条不会因链结间的挤压变形而影响机械传动。
在所述链条的侧部设置凸缘，在所述链条导板凹腔内的对应位置设置凹槽，所述凸缘嵌设于所述凹槽中。其作用是使链条导板更好地对链条限位，有效防止工作过程中链条与链轮脱齿，并限制链条沿链轮轴向的位移。
所述链条为第一单向弯折链条，所述第一单向弯折链条朝向链轮弯折，所述链条导板为硬直板，所述硬直板设于所述链条背离链轮的一侧。所述链条导板为第二单向弯折的链条，所述第一和第二弯折链条背靠背设置。也就是说，可以将链条导板用另一个单向弯折链条来代替。
在上述技术方案中，所述柔性连接件为控制线或真空管。所述真空管的材质可选用软性硅胶、橡胶等弹性材料，优选软性硅胶，以便真空管可随着链条的弯曲而发生弹性形变；所述控制线包括电源线、信号线等线状连接件，其可与真空管绑定在一起穿插于所述链条内的容置空间中。
也就是说，本发明在分体式机器人上应用本发明的传动与管路布线装置时，所述链轮固定于机器人的一个分机体内的输出轴上，由机器人的直流电机和减速箱组成的驱动系统提供较大扭矩输出(输出轴和驱动系统通常设置在后机体内)；所述链条的前/后端分别固定于前/后机体内，其中与链轮设置于同一分机体的链条一端弯折后固定。在机器人的前、后机体作相对运动时，由于线状连接件穿插于链条内的容置空间中，受到链条的约束，因此不会发生紊乱。本发明不仅能为分体式机器人传递较大推力，而且往复行程较大，并兼顾了真空管管路和电源线、控制线等管线布局，既简化了机器人的结构，又有效地解决了分体式机器人的控制线等线状连接件容易紊乱，损坏的问题。

Claims (10)

  1. 一种分体式机器人，包含前机体和后机体，其特征在于：所述前机体(001)和后机体(002)通过链条链轮机构连接并驱动，使得所述前机体和后机体分开或合拢，实现机器人的蠕动行走，链条(2)前端和后端分别设于前机体和后机体，链轮(3)设置于前机体或后机体，链条外周配设一限位机构，在限位机构的作用下，所述链轮和链条后端或链条前端之间的各个链条节共线；所述链条设有容置空间，所述容置空间容纳前机体和后机体间的柔性连接件。
  2. 如权利要求1所述的分体式机器人，其特征在于：所述容置空间由设置在每个链条节上的容置部相互贯通而成，所述容置空间两端开口。
  3. 如权利要求1所述的分体式机器人，其特征在于：所述容置部为设有通孔的部件或部分开口的U形夹或C形夹。
  4. 如权利要求1所述的分体式机器人，其特征在于：所述限位机构具有自由端和固定端，所述固定端固定在前机体(001)或后机体(002)上，自由端至少延伸至后机体或前机体的链轮处。
  5. 如权利要求4所述的分体式机器人，其特征在于：所述限位机构为链条导板，所述链条导板的横截面为凹字形结构，纵向延伸后形成凹腔，所述链条(2)置于链条导板的凹腔中。
  6. 如权利要求5所述的分体式机器人，其特征在于：在所述链条(2)的侧部设置凸缘(201)，在所述链条导板凹腔内的对应位置设置凹槽(101)，所述凸缘嵌设于所述凹槽中。
  7. 如权利要求5所述的分体式机器人，其特征在于：所述链条(2)为第一单向弯折链条，所述第一单向弯折链条朝向链轮(3)弯折，所述链条导板为硬直板(6)，所述硬直板设于所述链条背离链轮的一侧。
  8. 如权利要求7所述的分体式机器人，其特征在于：所述链条导板为第二单向弯 折的链条，所述第一和第二弯折链条背靠背设置。
  9. 如权利要求1所述的分体式机器人，其特征在于：所述柔性连接件为控制线或真空管。
  10. 如权利要求9所述的分体式机器人，其特征在于：所述真空管材料为软性硅胶。
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