CN107244362A - One kind building municipal administration multi-function robot - Google Patents
One kind building municipal administration multi-function robot Download PDFInfo
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- CN107244362A CN107244362A CN201710491269.8A CN201710491269A CN107244362A CN 107244362 A CN107244362 A CN 107244362A CN 201710491269 A CN201710491269 A CN 201710491269A CN 107244362 A CN107244362 A CN 107244362A
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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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Municipal administration multi-function robot is built the invention discloses one kind, including frame, the frame is provided with four groups of walking mechanisms, walking mechanism described in four groups is respectively arranged at the front and back position of frame both sides, it is characterized in that, the walking mechanism includes hollow shaft and solid shafting, the hollow shaft sleeve is located at solid shafting outer ring, connected between the hollow shaft and solid shafting by clutch shaft bearing, the hollow shaft outer ring is connected on the side wall of frame by second bearing, the outer ring of the hollow shaft is located at shell outside first support arm that is connected, the two ends of the solid shafting grow hollow shaft, the outer ring of the solid shafting, which is located at shell outside, is provided with the second support arm, first support arm and the second support arm are located at the both sides of hollow shaft axis respectively.The walking of robot can be achieved by four groups of walking mechanisms in the present invention, and adapts to complicated landform, and each walking mechanism can be separately adjustable, cooperates, with a variety of walking manners, frame can be by the regulation of walking mechanism come adjustable height, with practicality.
Description
Technical field
The present invention relates to robotic technology field, a kind of building municipal administration multi-function robot is particularly related to.
Background technology
The walking of the robot of prior art can be realized in several ways, but the equal Shortcomings in flexibility
Part, it is impossible to adapt to complicated landform, easily tumble；Existing robot is small using scope, lacks the power tool of specialty.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of building municipal administration multi-function robot, to solve existing skill
Shu Zhong robots can not adapt to complicated landform and lack the technical problem of the power tool of specialty.
In order to solve the above technical problems, embodiments of the invention provide a kind of building municipal administration multi-function robot, including
Frame, the frame is provided with four groups of walking mechanisms, and walking mechanism described in four groups is respectively arranged at the front and back position of frame both sides,
The walking mechanism includes hollow shaft and solid shafting, and the hollow shaft sleeve is located at solid shafting outer ring, the hollow shaft and solid shafting
Between connected by clutch shaft bearing, the hollow shaft outer ring is connected on the side wall of frame by second bearing, the hollow shaft
Outer ring be located at shell outside first support arm that is connected, the two ends of the solid shafting grow hollow shaft, the solid shafting it is outer
Circle, which is located at shell outside, is provided with the second support arm, and first support arm and the second support arm are respectively positioned at hollow shaft axis
Both sides, the outer end of first support arm is connected with the 3rd support arm by rotating shaft, and the outer end of second supporting part leads to
Cross rotating shaft and be connected with the 4th support arm, the other end and the other end of the 4th support arm of the 3rd support arm pass through
Rotating shaft is connected, and is located in the hollow shaft at frame inner side and is provided with first gear, and the side wall of the frame is provided with the first motor,
First motor is by meshed transmission gear in first gear, and the end that the solid shafting is located at on the inside of frame is provided with second
The second motor is additionally provided with gear, the side wall of the frame, second motor is by meshed transmission gear in second gear；
The front of the frame is provided with handling device, and the handling device includes bottom plate, the 3rd motor, 3rd bearing, the
Three gears, rotating bar, Coupling Shaft, the 4th gear, first place plate, slide rail, the first electric pushrod, first connecting rod, sliding block, installation
Case, second connecting rod, the second electric pushrod, second place plate and clamping part, and the bottom plate is provided with the 3rd motor, and described the
The Coupling Shaft is provided with the top of three motors, the Coupling Shaft upper end is provided with the middle part of the 3rd bearing, the Coupling Shaft and is provided with institute
The 3rd gear is stated, the 3rd bearing lateral wall places plate provided with described first, and the first placement plate bottom side is provided with
The rotating bar, the rotating bar lower end is provided with the 4th gear, the 3rd gear and the 4th the gear engagement, described first
Place to be provided with to coordinate on the slide rail and the first electric pushrod, the slide rail at the top of plate and be provided with sliding block, first electric pushrod
To drive sliding block to be moved along slide rail, the sliding block side is symmetrical above and below to be provided with the first connecting rod, and the first connecting rod is another
End is provided with the installation case, and the installation case inner bottom part is hinged with second electric pushrod, the second electric pushrod upper end
It is hinged with the middle part of the second connecting rod, the second connecting rod and is hinged with installing case side wall, the second connecting rod other end is set
There is described second to place plate, described second, which places plate, is provided with the clamping section；
Device is beaten in the rear of the frame provided with top, and device is beaten on the top includes the installing plate in frame and connection
Plate, the installing plate is connected with the first rotary shaft, first rotary shaft by bearing and is provided with runner, and the runner includes
Mutually close upper runner and lower runner, the upper runner is rotationally connected with the first rotary shaft by bearing, the lower runner with
First rotary shaft formation tight fit, the lower end of the lower runner is provided with stage portion, and the radial direction anchor ring of the stage portion is provided with outer
Screw thread, the lower runner, which is additionally provided with multiple the first through-hole being radially arranged, each first through-hole, is provided with the first bullet
Spring and the steel ball abutted against with first spring, a part for the steel ball stretch out the end face of first through-hole,
Spring bearer plate is arranged with the stage portion of the lower runner, the spring bearer plate is provided with the projection stretched into the first through-hole,
Latch, spring bearer plate described in the latch contact are also bolted with the stage portion so that projection to spring press, it is described
Upper runner is provided with the shallow hole being engaged with the steel ball with the one side that lower runner mutually reclines；
The top surface of the installing plate provided with two parallel rectangular-shaped grooves, each described groove one end and installing plate
A rectangular block is provided with one side flush, each groove, the top surface of each rectangular block is rotated provided with one second
Axle, the connecting plate is that the center both sides on elongate in shape, the length direction of the connecting plate are provided with symmetrical bar shaped groove, often
Bar shaped groove described in one is sheathed on described in one in second rotary shaft, and the middle part of the connecting plate is rotated by the 3rd rotary shaft to be connected
In on the installing plate；The upper runner upper surface at outer rim be provided with the 4th rotary shaft, the 4th rotary shaft with wherein
Second rotary shaft described in one is connected by trace；The rectangular block includes the slow pressure cylinder that slip shaft and two ends are closed, institute
State the end face in slow pressure cylinder and be provided with second spring, other end is provided with the second through-hole, and the slip shaft passes through described second
Through-hole, the part that the slip shaft is located in slow pressure cylinder is provided with abutment plate, and the abutment plate is resisted against in second spring.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
In such scheme, the walking of robot can be achieved by four groups of walking mechanisms in the present invention, and adapts to intricately
Shape, each walking mechanism can be separately adjustable, cooperates, with a variety of walking manners, and frame can be by the regulation of walking mechanism
Carry out adjustable height, with practicality；Handling device is further provided with, transport operation is can perform, it is wide using scope；Due to provided with top
Device is beaten, various tasks are can perform, it is wide using scope.
Brief description of the drawings
Fig. 1 is stereogram of the invention.
Fig. 2 is the stereogram of the walking mechanism of the present invention.
Fig. 3 is the schematic diagram of the touchdown point of the walking mechanism of the present invention.
Change schematic diagram one when Fig. 4 is the walking of the walking mechanism of the present invention.
Change schematic diagram two when Fig. 5 is the walking of the walking mechanism of the present invention.
Change schematic diagram three when Fig. 6 is the walking of the walking mechanism of the present invention.
Change schematic diagrams of the Fig. 7 for walking mechanism of the invention when being adjusted for bracket height.
Fig. 8 is the schematic diagram of the handling device of the present invention.
Fig. 9 plays the structure chart of device for the top of the present invention.
Figure 10 is the sectional view of the runner of the present invention.
Figure 11 is the sectional view of the rectangular block of the present invention.
Embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
For convenience of description, before left direction is in Fig. 1, after right direction is.
As shown in Figures 1 to 6, the embodiment of the present invention provides a kind of building municipal administration multi-function robot, including level is set
The frame 1 put, the frame 1 is provided with four groups of walking mechanisms 2, and walking mechanism 2 described in four groups is respectively arranged on before the both sides of frame 1
Afterwards at position, position is respectively front left side, forward right side, left rear side, the right lateral side of frame 1, similar to automobile four-wheel installation site,
The walking mechanism 2 includes hollow shaft 21 and solid shafting 22, and the hollow shaft 21 is sheathed on the outer ring of solid shafting 22, the hollow shaft
By clutch shaft bearing connection (not shown) between 21 and solid shafting 22, clutch shaft bearing is connected as prior art, and therefore not to repeat here,
Being coaxially disposed by the achievable hollow shaft 21 of clutch shaft bearing connection with solid shafting 22 can mutually relatively rotate, and be independent of each other, the sky
The outer ring of heart axle 21 is connected on the side wall of frame 1 by second bearing (not shown), the hollow shaft 21 and the level of solid shafting 22
Set, the outer ring of the hollow shaft 21 is located at connected first support arm 23 in the outside of frame 1, and the two ends of the solid shafting 22 are grown
Hollow shaft 21, the outer ring of the solid shafting 22 is located at the outside of frame 1 and is provided with the second support arm 24, first support arm 23 with
Second support arm 24 is located at the both sides of the axis of hollow shaft 21 respectively, and the outer end of first support arm 23 is connected by rotating shaft 3
There is the 3rd support arm 25, the outer end of second supporting part 24 is connected with the 4th support arm 26, described 3rd by rotating shaft 3
The other end of brace 25 is connected with the other end of the 4th support arm 26 by rotating shaft 3, is located in the hollow shaft 21
First gear 27 is provided with the inner side of frame 1, the side wall of the frame 1 is provided with the first motor 4, and first motor 4 passes through tooth
Engaged transmission is taken turns in first gear 27, the end that the solid shafting 22 is located at the inner side of frame 1 is provided with second gear 28, the machine
The second motor 5 is additionally provided with the side wall of frame 1, second motor 5 is by meshed transmission gear in second gear 28.First support
Arm 23, the second support arm 24, the 3rd support arm 25, the 4th support arm 26 constitute the walking mechanism of a quadrangle, the 3rd
The junction of the support arm 26 of brace 25 and the 4th is touchdown point 6 (as shown in Figure 3), therefore can be by the 3rd support arm 25 and the 4th
The end that brace 26 is touched with ground does in the arc-shaped, more smooth when walking mechanism is touched with ground.The solid shafting
22 are made up of aluminium alloy.
A kind of motion mode is described below, as shown in figure 4, the initial position of walking mechanism is shown in solid line position in figure,
Four walking mechanisms 2 drive hollow shaft 21 to rotate to drive the first support arm 23 in the counterclockwise direction to turn by the first motor 4
Move to shown position, the first motor 4 driving hollow shaft 21 rotation be the motion with acceleration, the second motor 5 do not rotate from
And the second support arm 24 is remained stationary as, therefore touchdown point 6 is moved to the obliquely downward of rear side, therefore has given frame one forward and up
Driving force, as shown in figure 5, then the first motor 4 is rotated clockwise so as to driving the first support arm 23 to turn along clockwise direction
Move to shown position, the second motor 5 rotates counterclockwise to drive the second support arm 24 to turn to diagram position in the counterclockwise direction
Put, touchdown point 6 is moved to the oblique upper of front side, touchdown point 6 is liftoff, frame is soared liftoff, as shown in fig. 6, then the first electricity
Machine 4 is rotated counterclockwise so as to drive the first support arm 23 to turn to shown position in the counterclockwise direction, and the second motor 5 turns clockwise
Move to drive the second support arm 24 to be rotated in the clockwise direction to shown position, touchdown point 6 is oliquely downward moved forward, landed
Point is contacted with ground, completes a period of motion, and the step can make robot bound forward.Other similar walkings, running
Step will not be repeated here.
The walking mechanism for the quadrangle being made up of 4 support arms, as long as the first support arm and second by motor control
The position of support arm, the position of that touchdown point is what is be to determine, therefore can realize accurate motion.
As shown in fig. 7, walking mechanism 2 can also be by the way that the first motor 4 be rotated clockwise, the second motor 5 turns counterclockwise
It is dynamic, move up touchdown point 6, the starting point of rear 6 touchdown point as motion will be moved up, can thus realize frame 1 from
Ground level have adjusted.
As illustrated in figures 1 and 8, the front of the frame 1 be provided with handling device 7, the handling device 7 include bottom plate 71,
3rd motor 72,3rd bearing 73, the 3rd gear 74, rotating bar 76, Coupling Shaft 75, the 4th gear 77, first are placed plate 78, slided
Rail 79, the first electric pushrod 60, first connecting rod 61, sliding block 62, installation case 63, second connecting rod 64, the second electric pushrod 65, second
Plate 66 and clamping part 87 are placed, the bottom plate 71 is provided with the 3rd motor 72, and the top of the 3rd motor 72 is provided with described
Coupling Shaft 75, the upper end of Coupling Shaft 75 is provided with the 3rd bearing 73, and the middle part of Coupling Shaft 75 is provided with the 3rd gear
74, the lateral wall of 3rd bearing 73 places plate 78 provided with described first, and described first, which places the bottom side of plate 78, is provided with institute
Rotating bar 76 is stated, the lower end of rotating bar 76 is provided with the 4th gear 77, and the 3rd gear 74 and the 4th gear 77 are engaged,
The top of first placement plate 78, which is provided with to coordinate on the electric pushrod 60 of slide rail 79 and first, the slide rail 79, is provided with sliding block
62, first electric pushrod 60 is to drive sliding block 62 to be moved along slide rail 79, and the side of sliding block 62 is symmetrical above and below to be provided with institute
First connecting rod 61 is stated, the other end of first connecting rod 61 is hinged provided with the installation case 63, the installation inner bottom part of case 63
The second electric pushrod 65 is stated, the upper end of the second electric pushrod 65 is hinged with the second connecting rod 64, the second connecting rod 64
Portion is hinged with installing the side wall of case 63, and the other end of second connecting rod 64 places plate 66 provided with described second, and described second puts
Plate 66 is put provided with the clamping section 67.The handling device is by controlling the 3rd motor, the first electric pushrod, second electronic to push away
Bar realizes multivariant motion, and operation is flexible, can be widely applied in architectural engineering.
As shown in Fig. 1, Fig. 9 to Figure 11, device 8 is beaten in the rear of the frame 1 provided with top, and device is beaten on the top to be included being located at
Installing plate 81 and connecting plate 82 in frame 1, the installing plate 81 are connected with first rotating shaft 83, the first rotating shaft by bearing
83 axis and installing plate 81 are perpendicular, and runner 84 is provided with first rotary shaft 83, and the runner 84 includes mutually close
Upper runner 841 and lower runner 842, the upper runner 841 is rotationally connected with the first rotary shaft 83 by bearing, described lower turn
The formation tight fit of rotary shaft 83 of wheel 842 and first, the lower end of the lower runner 842 is provided with stage portion 843, the stage portion 843
Radial direction anchor ring be provided with external screw thread 8431, the lower runner 842 is additionally provided with the first through-hole 844, Duo Gesuo of multiple radial directions
The first through-hole 844 is stated with a diameter of axis of the lower runner 842 along the circumferential direction uniform array, each described first is penetrating
Provided with the first spring 845 and the steel ball 846 abutted against with first spring 845, one of the steel ball 846 in hole 844
Divide in the end face for stretching out first through-hole 844, the stage portion 843 of the lower runner 842 and be arranged with spring bearer plate 847,
The spring bearer plate 847 is provided with the projection 8471 stretched into the first through-hole 844, the stage portion 843 and is also bolted with lock
Tight plate 848, spring bearer plate 847 described in the contact of latch 848 so that 8471 pair of first spring 845 of projection presses, it is described on
Runner 841 is provided with the shallow hole 849 being engaged with the steel ball 846 with the one side that lower runner 842 mutually reclines.
The top surface of the installing plate 81 is provided with two parallel rectangular-shaped grooves 85, each described one end of groove 85 and peace
The one side flush of plate 81 is filled so that the one side of the groove 85 is communicated with the external world, provided with a square in each groove 85
Shape block 86, the top surface of each rectangular block 86 is provided with one second rotary shaft 87, the axis and peace of second rotary shaft 87
Dress plate 81 is perpendicular, and the second rotary shaft 87 is connected on rectangular block 86 by bearing, and the connecting plate 82 is elongate in shape, described
Center both sides on the length direction of connecting plate 82 are provided with symmetrical bar shaped groove 88, and each bar shaped groove 88 is sheathed on one
In second rotary shaft 87, second rotary shaft 87 coordinates with the formation of bar shaped groove 88 gap, in the connecting plate 82
Portion is rotationally connected with the installing plate 81 by the 3rd rotary shaft 89；3rd rotary shaft 89 is located at two grooves 85
On the center of the vertical connection lines at middle part.
The 4th rotary shaft 90, the axis and peace of the 4th rotary shaft 90 are provided with the upper runner 841 at outer rim
Dress plate 81 is perpendicular, and the 4th rotary shaft 90 is connected on upper runner 841 by bearing, the 4th rotary shaft 90 and wherein one institute
State the second rotary shaft 87 by trace 91 to be connected, the 4th rotary shaft 90 and the second rotary shaft 87 rotation company wherein described in one
It is connected on trace 91, the 4th rotary shaft 90 and coupled wherein one second rotary shaft 87 are located at the same of installing plate 81
Side is so that the runner 84 drives rectangular block 86 and connecting plate 82 to move by trace 91.
The rectangular block 86 is included in the slow pressure cylinder 862 that slip shaft 861 and two ends are closed, the slow pressure cylinder 862
End face is provided with second spring 863, and other end is provided with the second through-hole 864, and the slip shaft 861 is penetrating through described second
Hole 864, the part that the slip shaft 861 is located in slow pressure cylinder 862 is provided with abutment plate 866, and the abutment plate 866 is resisted against second
On spring 863.
Also include the 4th motor 97 being fixed on installing plate 81, the 4th motor 97 is driven to drive by belt 98
Dynamic first rotary shaft 83 is so as to drive the lower runner 842 to rotate, and rectangular block 86 described in two is alternately past by the driving of the 4th motor 97
It is protruding on the length direction of groove 85 again to play operation to carry out top.
When something unexpected happened, such as when rectangular block is stuck inactive, the steel ball on lower runner will be sliding out
Shallow slot on runner, and then electric signal can be sent to the 4th motor, it is convenient to carry out shutdown inspection to fix a breakdown.As failure row
After removing, the 4th motor works on, and the runner of lower runner can slip into the shallow slot of runner again, can continue normal work.
The motion that device coordinates robot is played on top, it is possible to achieve such as compression can be by compressor, due to being set in rectangular block
There is slow pressure cylinder, flexible top can be achieved and plays operation, protects by compressor, reduce it and damage probability, what alternately the top mode of beating was produced shakes
Dynamic effect can also make, by compressor more consolidation, to exclude unnecessary space；It can also realize and such as tenon is pressed into mortise,
More smooth in process of press in.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (1)
1. one kind building municipal administration multi-function robot, including frame, the frame is provided with four groups of walking mechanisms, described in four groups
Walking mechanism is respectively arranged at the front and back position of frame both sides, it is characterised in that the walking mechanism includes hollow shaft and solid
Axle, the hollow shaft sleeve is located at solid shafting outer ring, is connected between the hollow shaft and solid shafting by clutch shaft bearing, described hollow
Axle outer ring is connected on the side wall of frame by second bearing, and the outer ring of the hollow shaft, which is located at shell outside, to be connected first
Brace, the two ends of the solid shafting grow hollow shaft, and the outer ring of the solid shafting, which is located at shell outside, is provided with the second support arm,
First support arm and the second support arm are located at the both sides of hollow shaft axis respectively, and the outer end of first support arm passes through
Rotating shaft is connected with the 3rd support arm, and the outer end of second supporting part is connected with the 4th support arm, the described 3rd by rotating shaft
The other end of support arm is connected with the other end of the 4th support arm by rotating shaft, is located in the hollow shaft in frame
Be provided with first gear at side, the side wall of the frame is provided with the first motor, first motor by meshed transmission gear in
First gear, the solid shafting is located at the end at place on the inside of frame provided with second gear, and the is additionally provided with the side wall of the frame
Two motors, second motor is by meshed transmission gear in second gear；
The front of the frame is provided with handling device, and the handling device includes bottom plate, the 3rd motor, 3rd bearing, the 3rd tooth
Wheel, rotating bar, Coupling Shaft, the 4th gear, first place plate, slide rail, the first electric pushrod, first connecting rod, sliding block, install case,
Second connecting rod, the second electric pushrod, second place plate and clamping part, and the bottom plate is provided with the 3rd motor, the described 3rd
The Coupling Shaft is provided with the top of motor, the Coupling Shaft upper end is provided with the middle part of the 3rd bearing, the Coupling Shaft provided with described
3rd gear, the 3rd bearing lateral wall places plate provided with described first, and described first, which places plate bottom side, is provided with institute
Rotating bar is stated, the rotating bar lower end is provided with the 4th gear, and the 3rd gear and the 4th gear are engaged, and described first puts
Put to be provided with the slide rail and the first electric pushrod, the slide rail to coordinate at the top of plate and be provided with sliding block, first electric pushrod is used
To drive sliding block to be moved along slide rail, the sliding block side is symmetrical above and below to be provided with the first connecting rod, the first connecting rod other end
Provided with the installation case, the installation case inner bottom part is hinged with second electric pushrod, the second electric pushrod upper end hinge
It is connected in the middle part of the second connecting rod, the second connecting rod and is hinged with installing case side wall, the second connecting rod other end is provided with
Described second places plate, and described second, which places plate, is provided with the clamping section；
Device is beaten in the rear of the frame provided with top, and device is beaten on the top includes the installing plate and connecting plate in frame, institute
State installing plate and be connected with by bearing in the first rotary shaft, first rotary shaft and runner is installed, the runner includes mutually leaning on
Near upper runner and lower runner, the upper runner is rotationally connected with the first rotary shaft by bearing, the lower runner and first
Rotary shaft formation tight fit, the lower end of the lower runner is provided with stage portion, and the radial direction anchor ring of the stage portion is provided with external screw thread,
The lower runner is additionally provided with multiple the first through-hole being radially arranged, in each first through-hole provided with the first spring and
The steel ball abutted against with first spring, the part of the steel ball stretches out the end face of first through-hole, it is described under
Spring bearer plate is arranged with the stage portion of runner, the spring bearer plate is provided with the projection stretched into the first through-hole, described
Latch, spring bearer plate described in the latch contact are also bolted with rank portion so that projection is to spring pressure, the upper runner
The shallow hole being engaged with the steel ball is provided with the one side that lower runner mutually reclines；
The top surface of the installing plate is provided with the side of two parallel rectangular-shaped grooves, each described groove one end and installing plate
A rectangular block is provided with face flush, each groove, the top surface of each rectangular block is provided with one second rotary shaft, institute
Connecting plate is stated for elongate in shape, the center both sides on the length direction of the connecting plate are provided with symmetrical bar shaped groove, Mei Yisuo
State bar shaped groove to be sheathed on described in one in second rotary shaft, the middle part of the connecting plate is rotationally connected with institute by the 3rd rotary shaft
State on installing plate；The upper runner upper surface is provided with the 4th rotary shaft, the 4th rotary shaft and wherein one institute at outer rim
The second rotary shaft is stated by trace to be connected；The rectangular block includes the slow pressure cylinder that slip shaft and two ends are closed, described slow
End face in pressure cylinder is provided with second spring, and other end is provided with the second through-hole, and the slip shaft is penetrating through described second
Hole, the part that the slip shaft is located in slow pressure cylinder is provided with abutment plate, and the abutment plate is resisted against in second spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710491269.8A CN107244362A (en) | 2017-06-26 | 2017-06-26 | One kind building municipal administration multi-function robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710491269.8A CN107244362A (en) | 2017-06-26 | 2017-06-26 | One kind building municipal administration multi-function robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107244362A true CN107244362A (en) | 2017-10-13 |
Family
ID=60019582
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710491269.8A Pending CN107244362A (en) | 2017-06-26 | 2017-06-26 | One kind building municipal administration multi-function robot |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1996022859A1 (en) * | 1995-01-27 | 1996-08-01 | Cubero Samuel Nacion Jr | Space truss integrated-construction robot |
| DE10212665A1 (en) * | 2002-03-21 | 2003-10-16 | Peter Spende | A robot controlled system has a support carrying rotating members with operating units attached moving in unison. |
| CN101602382A (en) * | 2009-05-13 | 2009-12-16 | 上海工程技术大学 | A kind of single-drive four feet walking robot |
| CN103273984A (en) * | 2013-06-18 | 2013-09-04 | 辰星（天津）自动化设备有限公司 | Quadruped-imitating stair-climbing robot |
| CN104008698A (en) * | 2014-05-23 | 2014-08-27 | 天津商业大学 | Four-footed walking robot consisting of multi-connecting-rod mechanism |
| CN205632713U (en) * | 2016-04-02 | 2016-10-12 | 上海大学 | Active planetary gear train hinders robot chassis more |
-
2017
- 2017-06-26 CN CN201710491269.8A patent/CN107244362A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1996022859A1 (en) * | 1995-01-27 | 1996-08-01 | Cubero Samuel Nacion Jr | Space truss integrated-construction robot |
| DE10212665A1 (en) * | 2002-03-21 | 2003-10-16 | Peter Spende | A robot controlled system has a support carrying rotating members with operating units attached moving in unison. |
| CN101602382A (en) * | 2009-05-13 | 2009-12-16 | 上海工程技术大学 | A kind of single-drive four feet walking robot |
| CN103273984A (en) * | 2013-06-18 | 2013-09-04 | 辰星（天津）自动化设备有限公司 | Quadruped-imitating stair-climbing robot |
| CN104008698A (en) * | 2014-05-23 | 2014-08-27 | 天津商业大学 | Four-footed walking robot consisting of multi-connecting-rod mechanism |
| CN205632713U (en) * | 2016-04-02 | 2016-10-12 | 上海大学 | Active planetary gear train hinders robot chassis more |
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Application publication date: 20171013 |