CN107352002B - A kind of portable robot - Google Patents
A kind of portable robot Download PDFInfo
- Publication number
- CN107352002B CN107352002B CN201710635117.0A CN201710635117A CN107352002B CN 107352002 B CN107352002 B CN 107352002B CN 201710635117 A CN201710635117 A CN 201710635117A CN 107352002 B CN107352002 B CN 107352002B
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- Prior art keywords
- drive
- vertical
- rod
- horizontal
- folding
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of portable robot, including ontology and supporting mechanism；Ontology includes housing；Supporting mechanism includes folding landing leg and stretching, extension driving mechanism；The quantity of folding landing leg is two and is arranged on housing both sides, and each folding landing leg is along plumb line direction folding extension；Driving mechanism is stretched while driving two folding landing legs along plumb line direction synchronous folding or stretching, extension, and two folding landing legs of synchronous drive are closer to each other or separate.Two folding landing legs of the present invention folding extension but also can away from each other approach, it can be smaller by folding two whole occupied spaces of folding landing leg during storage, two folding landing legs can promote bearing area away from each other during work prevents the dirty transparent windows of sludge to ensure that stability and two folding landing legs support ontology from mud bottom.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of portable robot.
Background technology
Underwater robot has video camera or camera more, is generally used for hydrologic research, underwater monitoring, detects under water, water
The fields such as lower rescue, underwater salvage, the supervision of nuclear power station waters and the cleaning of underwater oil job platform.
A kind of existing underwater robot is under water on the basis of video camera, increases mobile module, autonomous so as to complete
Mobile or controlled movement.
Patent document CN201733377U discloses a kind of Underwater Camera, including seal casinghousing, video camera module and
Control the control panel of motor rotation；First gear disk is horizontally installed in the seal casinghousing and drives first tooth
First driving motor of wheel disc rotation；The first gear disk center is provided with the conducting slip ring of a transmission electric power and signal,
The conducting slip ring at the top of screw and the main support by tightening together；A n is provided with below the first gear disk
Shape main support, the top of the main support are fixedly connected with the first gear disk；Is equipped in the side wall of the main support
Two toothed discs and the second driving motor for driving the second gear disk rotation；One U-shaped is installed to bear in the main support
Stent, the one side wall of the negative stent are connect with the second gear disk；The video camera module is fixedly mounted on the negative branch
On frame.When the first driving motor drives first gear disc spins, main support will rotate therewith, you can realize video camera water
Square to 360 ° of rotation；When the second driving motor drives second gear disc spins, negative stent can rotate therewith, you can
Realize the rotation of video camera ± 90 °.Video camera is powered in horizontal and vertical rotary course by conducting slip ring and the external world
With signal transmission, exchange, conducting slip ring ensures the not power down in course of normal operation of video camera module, not lossing signal, continuously
Work, while ensure that stent can continuous 360 degree rotation.This kind of Underwater Camera is simple in structure, and video camera can be with horizontal direction
360 degree rotation, vertical direction ± 90 degree rotation, realizes comprehensive observation, widens the underwater visual field.
This kind of Underwater Camera has the following disadvantages：It need to hold or be used on other objects, when it is straight
It connects when sinking under water, transparent ball cover will be made dirty by mud, interfere shooting.
Invention content
The object of the present invention is to provide a kind of tool there are two the portable robot of folding landing leg, two folding landing leg was both
Foldable stretching, extension can approach away from each other again, during storage can by fold two whole occupied spaces of folding landing leg compared with
Small, two folding landing legs can promote bearing area to ensure stability and two fold branch away from each other during work
Leg supports ontology prevents the dirty transparent windows of sludge from mud bottom.
Realizing the technical solution of the object of the invention is：A kind of portable robot, including ontology and supporting mechanism；Ontology packet
Include housing and the photographing module being built in housing；Lower part of the housing is equipped with transparent observation window；Supporting mechanism includes folding landing leg
With stretching, extension driving mechanism；The quantity of folding landing leg is two and is arranged on housing both sides；It stretches driving mechanism and is driving two foldings
While folded supporting leg synchronous folding or stretching, extension, two folding landing legs of synchronous drive are closer to each other or separate.
In said program, each folding landing leg includes combining the complex wrapping frame formed and complex wrapping frame by multiple X-frames
V-arrangement interlocking bar that middle one X-frame in the top is connected, drive link, mounting rod and and the complex wrapping being connected with V-arrangement interlocking bar
The support feet that frame bottom is connected；It is set on the wall body of housing both sides there are two horizontal slide opening, each mounting rod is to be slidably arranged in accordingly
Housing is exposed in horizontal sliding bar in one horizontal slide opening, the outer end of each mounting rod；Each uppermost X-frame of complex wrapping frame
It is arranged on a corresponding mounting rod by a pin rotation；The bottom end of drive link and a corresponding V-arrangement interlocking bar are hinged
End is rotatedly connected；It stretches driving mechanism and includes stretching, extension driving motor and two transmission components, stretching, extension driving motor passes through two biographies
Dynamic component synchronization drives two drive links to increase or fall along plumb line direction, and two mounting rods of synchronous drive away from each other or
It is close.
In said program, stretching, extension driving motor is a double shaft-protruding type motor, and motor is stretched out at the both ends of drive shaft
It is outer to form two driving output shafts；Each transmission component includes drive bevel gear, driven wheel of differential, vertical slide bar and horizontal drive bar
Component；Drive bevel gear includes driving tooth wheel portion and horizontal stud portion, and it is defeated that driving tooth wheel portion is fixed at a corresponding driving
On shaft, and the reciprocating rotation on vertical guide；Two mounting rods are located at the both sides of stretching, extension driving motor, the close stretching, extension of each mounting rod
One side of driving motor is equipped with and the horizontal screw hole of horizontal stud portion adaptation, and horizontal stud portion is located at a corresponding mounting rod
In horizontal screw hole；Case top is set there are two the vertical casing with vertical slide opening, and the bottom end of each vertical casing is fixed with one
Roller bearing；Each driven wheel of differential includes driven tooth wheel portion, mounting portion and vertical stud portion；Driven tooth wheel portion reciprocating rotary in the horizontal plane
Dynamic, installation position is in the lower part in vertical stud portion and in a corresponding roller bearing；Horizontal drive bar assembly includes main driving
Bar and two secondary drive rods positioned at main drive rod both sides, main drive rod and secondary drive rod are horizontally disposed, each secondary drive
The outboard end of lever is connected by pin with a corresponding drive link；The two side ends of main drive rod are equipped with the sliding convex of evagination
Column, a side of the main drive rod of adjoining of each pair drive rod are equipped with center slide opening, and each sliding pillar, which is inserted into a corresponding center, to be slided
Kong Bingke reciprocatingly slides along the center slide opening；Vertical slide bar is located in the vertical slide opening of a corresponding vertical casing, vertical slide bar
Bottom end in be equipped with and vertical stud portion adaptation vertical screw hole, the top of vertical slide bar is equipped with the company being connected with main drive rod
Socket part.
In said program, two enhancing link assemblies are additionally provided between two support feets；Each enhancing link assembly includes solid
Surely the first connecting rod being arranged in a support feet and the second connecting rod being fixed in another support feet, first connecting rod are set
There is slide opening portion, second connecting rod is equipped with traveller portion, and the traveller portion of second connecting rod is located in the slide opening portion of first connecting rod.
In said program, drive link is set along plumb line direction.
The present invention has positive effect：Two folding landing legs folding extension but also can away from each other approach, during storage
Can be smaller by folding two whole occupied spaces of folding landing leg, during work two folding landing legs can away from each other so as to
Bearing area is promoted to ensure stability, and two folding landing leg of tensible supports ontology prevents the dirty transparent observing of sludge from mud bottom
Window.
Description of the drawings
Fig. 1 is a kind of dimensional structure diagram that the present invention is in folded state；
Fig. 2 is a kind of dimensional structure diagram when robot is from another angle shown in Fig. 1；
Fig. 3 is a kind of explosive view of robot shown in Fig. 1；
Fig. 4 is a kind of half section structure diagram of robot shown in Fig. 1；
Fig. 5 is a kind of dimensional structure diagram that robot shown in Fig. 1 is in extended configuration.
Reference numeral is：Housing 1, hemispherical observation window 11, horizontal slide opening 12, vertical casing 13, vertical slide opening 131, rolling
Axis 132, photographing module 2, cradle head mechanism 21 rotate horizontally part 211, rotate horizontally driving motor 212, and vertical rotary part 213 hangs down
Straight rotary drive motor 214, camera 22, folding landing leg 3, frame plate 30, complex wrapping frame 31, X-frame 311, V-arrangement interlocking bar
32, drive link 33, mounting rod 34, horizontal screw hole 341, support feet 35, kidney-shaped slide opening 351, rolling axis pin 352, enhancing connection rod set
Driving mechanism 4 is stretched in part 36, first connecting rod 361, second connecting rod 363, traveller portion 364, stretches driving motor 41, drive shaft
411, drive output shaft 412, transmission component 5, drive bevel gear 51, driving tooth wheel portion 511, horizontal stud portion 512, from mantle tooth
Wheel 52, driven tooth wheel portion 521, mounting portion 522, vertical stud portion 523, vertical slide bar 53, vertical screw hole 531, connecting portion 532,
Horizontal drive bar assembly 54, main drive rod 541 slip pillar 542, secondary drive rod 543, center slide opening 544.
Specific embodiment
（Embodiment 1）
The present embodiment is a kind of portable underwater robot, as shown in Fig. 1 to Fig. 5, including ontology and supporting mechanism；Ontology
Including the photographing module 2 for including housing 1 He being built in housing；Supporting mechanism includes folding landing leg 3 and stretching, extension driving mechanism 4；
The quantity of folding landing leg is two and is arranged on housing both sides, and each folding landing leg is along plumb line direction folding extension；Stretching, extension driving
Mechanism drive two folding landing legs along plumb line direction synchronous folding or stretching, extension while, two folding landing legs of synchronous drive that
This close to or away from.
The lower part of housing is equipped with transparent hemispherical observation window 11；Photographing module, which includes being built in housing, has driving
The cradle head mechanism 21 of motor 211, the camera 22 being arranged on cradle head mechanism and the headlamp being arranged on cradle head mechanism（On figure
It is not drawn into）.Camera 22 is fixed at the bottom of cradle head mechanism, the transparent wall body of camera face hemispherical observation window.
Each folding landing leg 3 includes being combined in the complex wrapping frame 31 formed and complex wrapping frame most by multiple X-frames 311
The connected V-arrangement interlocking bar 32 of an X-frame 311, the drive link 33, the mounting rod 34 that are connected with V-arrangement interlocking bar center of rotation above
And it is arranged on the support feet 35 below complex wrapping frame；
Each X-frame 311 is to be hinged and connected to be formed by respective middle part by two frame plates 30, in adjacent two X-frames,
The top of two frame plates of the bottom end of two frame plates of an X-frame and a following X-frame is rotatedly connected above；
Horizontal slide opening 12 there are two being set on the wall body of housing opposite sides, each mounting rod 34 is to be slidably arranged in corresponding one
Housing is exposed in horizontal sliding bar in horizontal slide opening, the outer end of each mounting rod；Each uppermost X-frame of complex wrapping frame passes through
One pin rotation is arranged on a corresponding mounting rod, and in the present embodiment, which is arranged on the outer of a corresponding mounting rod
At the center of end, two frame plates of the X-frame are around the pin rotation.This structure causes each mounting rod horizontal sliding at corresponding one
It reciprocatingly slides in the horizontal direction in hole.
V-arrangement interlocking bar is formed namely two framves of V-arrangement interlocking bar by the combination that is rotatedly connected of the abutting end of two frame plates 30
The abutting end of plate forms hinged end；The top top of two frame plates of one X-frame and V-arrangement interlocking bar in each complex wrapping frame
In the bottom ends of two frame plates be rotatedly connected；
Drive link is set along plumb line direction；The bottom end of drive link and the hinged end of corresponding V-arrangement interlocking bar rotation phase
Even, in the present embodiment, the bottom end of two frame plates and a corresponding drive link is hinged with what an axis pin was realized in V-arrangement interlocking bar
It is connected.
Support feet is equipped with horizontal-extending kidney-shaped slide opening 351, two of a bottom X-frame in each complex wrapping frame
Frame plate, the bottom end of one of frame plate and support feet are rotatedly connected, and the bottom end of another frame plate is equipped with horizontal direction and rolls axis pin
352, which is located in a corresponding kidney-shaped slide opening；When the complex wrapping frame stretches or folds, axis pin edge is rolled
Kidney-shaped slide opening slides.
In order to increase by the intensity and stability of two folding landing legs, two enhancing connection rod sets are additionally provided between two support feets
Part 36.Each enhancing link assembly includes the first connecting rod 361 being fixed in a support feet and is fixed at another
Second connecting rod 363 in support feet, first connecting rod are equipped with slide opening portion, and second connecting rod is equipped with traveller portion 364, the traveller of second connecting rod
Portion is located in the slide opening portion of first connecting rod.When this structure causes two folding landing legs away from each other, the traveller portion of second connecting rod is still
In the slide opening of first connecting rod namely cause it is each enhancing link assembly in first connecting rod and second connecting rod formed it is telescopic
Connection, to adapt to the away from each other and close of two folding landing legs.
It stretches driving mechanism 4 and includes a stretching, extension driving motor 41 and two transmission components 5, stretching, extension driving motor passes through two
A two drive links 33 of transmission component synchronous drive are moved back and forth along plumb line direction, so as to fulfill folding or two foldings being unfolded
Supporting leg.
Stretching, extension driving motor 41 is a double shaft-protruding type motor, and the both ends of drive shaft 411 are stretched out outside motor, so as to
Form two driving output shafts 412.
Each transmission component 5 includes drive bevel gear 51, driven wheel of differential 52, vertical slide bar 53 and horizontal drive bar assembly
54；
Drive bevel gear includes driving tooth wheel portion 511 and horizontal stud portion 512, driving tooth wheel portion are fixed at corresponding one
On a driving output shaft, and the reciprocating rotation on vertical guide；One side of each mounting rod close to stretching, extension driving motor is equipped with and water
The horizontal screw hole 341 of flat stud portion adaptation, horizontal stud portion is located in the horizontal screw hole of a corresponding mounting rod；The present embodiment
In, the driving tooth wheel portion of drive bevel gear and horizontal stud portion are made into integration, and the two is synchronized with the movement；When drive bevel gear is extended
When driving motor drives, horizontal stud portion drives a corresponding mounting rod reciprocating rotation by screw drive mode so that the peace
Dress bar is moved back and forth along horizontal slide opening, realizes that the both sides of two mounting rods towards housings elongate or shorten, so as to drive two foldings
Supporting leg is located remotely from each other or approaches.
Case top is set there are two the vertical casing 13 with vertical slide opening 131, and the bottom end of each vertical casing is fixed with
One roller bearing 132；Each driven wheel of differential includes driven tooth wheel portion 521, mounting portion 522 and vertical stud portion 523；Driven tooth wheel portion exists
Reciprocating rotation on horizontal plane, installation position is in the lower part in vertical stud portion and in a corresponding roller bearing；In the present embodiment,
Driven tooth wheel portion, mounting portion and the vertical stud portion of each driven wheel of differential are made into integration.During each drive bevel gear rotation, phase is driven
A driven wheel of differential rotation namely the corresponding driven tooth wheel portion of synchronous drive and vertical stud portion is answered to rotate synchronously.
In the present embodiment, the outboard end of each horizontal slide opening and vertical slide opening is equipped with waterproof seal ring, so as to prevent liquid
It is entered in housing through slide opening.
Horizontal drive bar assembly includes main drive rod 541 and two secondary drive rods 543 positioned at main drive rod both sides, main drive
Lever and secondary drive rod are horizontally disposed, and the outboard end of each pair drive rod passes through pin and a corresponding drive link phase
Even；The two side ends of main drive rod are equipped with the sliding pillar 542 of evagination, and a side of the main drive rod of adjoining of each pair drive rod is set
There is center slide opening 544, each sliding pillar is inserted into a corresponding center slide opening and can simultaneously reciprocatingly slide along the center slide opening.Namely main drive
Lever and two secondary drive rods form telescopic connection.When the both sides of two mounting rods towards housings elongate or shorten, by
It can reciprocatingly slide in the sliding pillar of main drive rod along the center slide opening of secondary drive rod, so that horizontal drive bar assembly is whole
Body horizontal length also elongates or shortens therewith.In the present embodiment, horizontal drive bar assembly is located at the surface of housing.
Vertical slide bar is located in the vertical slide opening of a corresponding vertical casing, is equipped in the bottom end of vertical slide bar and vertical
The vertical screw hole 531 of stud portion adaptation, the top of vertical slide bar is equipped with the connecting portion 532 being connected with main drive rod；The present embodiment
In, which is a lantern ring being set on main drive rod.When driven wheel of differential rotates, vertical stud portion passes through spiral shell
Line type of drive drives corresponding vertical slide bar reciprocating rotation so that the vertical slide bar is moved back and forth along vertical slide opening, is realized
Horizontal drive bar assembly is driven to rise or move down, and then the drive link 33 in Foldable supporting leg.
In the present embodiment, two drive bevel gear of stretching, extension driving motor synchronous drive and two driven wheel of differential rotate synchronously, and two
A horizontal stud portion drives two mounting rods to synchronize overhanging along horizontal slide opening or inside contract, and then drives two pairs by folding landing leg
Drive rod is overhanging or inside contracts so that the distance between two folding landing legs increased or decrease；When the spacing increase of two folding landing legs,
It is whole relatively stable, it is not easy to shake；When the spacing of two folding landing legs reduces, whole occupied space reduces, easy to carry.
Two vertical stud portions drive two vertical slide bars and horizontal drive bar assembly to move up or decline, and then drive each folding
Drive link in folded supporting leg is moved up or is declined；When drive link is moved up or is declined, the V-arrangement interlocking bar of Foldable supporting leg, due to each
The X-frame of the top one of folding landing leg is mounted on mounting rod, thus entire folding landing leg with V-arrangement interlocking bar stretching or
It compresses and stretches or fold up；When folding landing leg full extension, support feet is displaced downwardly to more than housing bottom, thus by housing
It supports so that hemispherical observation window can be higher by underwater mud face；When folding landing leg is folded, whole occupied space compared with
It is small, it is easy to carry about with one.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.And these
The obvious changes or variations that the connotation for belonging to of the invention is extended out still fall within protection scope of the present invention.
Claims (4)
1. a kind of portable robot, including ontology and supporting mechanism；Ontology includes housing, it is characterised in that：
Supporting mechanism includes folding landing leg and stretching, extension driving mechanism；The quantity of folding landing leg is two and is arranged on housing both sides,
Driving mechanism is stretched while two folding landing leg synchronous foldings or stretching, extension are driven, and two folding landing legs of synchronous drive connect each other
Close or remote from；
Each folding landing leg includes being combined one X-shaped in the top in the complex wrapping frame formed and complex wrapping frame by multiple X-frames
V-arrangement interlocking bar that frame is connected, drive link, mounting rod and the branch being connected with complex wrapping frame bottom being connected with V-arrangement interlocking bar
Spike；Horizontal slide opening there are two being set on the wall body of housing both sides, each mounting rod is slidably arranged in a corresponding horizontal slide opening
Horizontal sliding bar, housing is exposed in the outer end of each mounting rod；Each uppermost X-frame of complex wrapping frame is turned by a pin
It is dynamic to be arranged on a corresponding mounting rod；The bottom end of drive link and the hinged end of a corresponding V-arrangement interlocking bar are rotatedly connected；
It stretches driving mechanism and includes stretching, extension driving motor and two transmission components, stretching, extension driving motor is same by two transmission components
Step drives two drive links to increase or fall along plumb line direction, and two mounting rods of synchronous drive are away from each other or close；
Stretching, extension driving motor is a double shaft-protruding type motor, and the both ends of drive shaft stretch out outside motor that form two drivings defeated
Shaft；
Each transmission component includes drive bevel gear, driven wheel of differential, vertical slide bar and horizontal drive bar assembly；
Drive bevel gear includes driving tooth wheel portion and horizontal stud portion, and driving tooth wheel portion is fixed at corresponding driving output
On axis, and the reciprocating rotation on vertical guide；
Two mounting rods are located at the both sides of stretching, extension driving motor, and a side of each mounting rod close to stretching, extension driving motor is equipped with and water
The horizontal screw hole of flat stud portion adaptation, horizontal stud portion is located in the horizontal screw hole of a corresponding mounting rod；
Case top is set there are two the vertical casing with vertical slide opening, and the bottom end of each vertical casing is fixed with a roller bearing；Respectively
Driven wheel of differential includes driven tooth wheel portion, mounting portion and vertical stud portion；Driven tooth wheel portion reciprocating rotation in the horizontal plane, installation
Portion is located at the lower part in vertical stud portion and in a corresponding roller bearing；
Horizontal drive bar assembly includes main drive rod and two secondary drive rods positioned at main drive rod both sides, main drive rod and secondary drive
Lever is horizontally disposed, and the outboard end of each pair drive rod is connected by pin with a corresponding drive link；Main drive rod
Two side ends be equipped with the sliding pillar of evagination, a side of the main drive rod of adjoining of each pair drive rod is equipped with center slide opening, respectively
Sliding pillar is inserted into a corresponding center slide opening and can simultaneously reciprocatingly slide along the center slide opening；
Vertical slide bar is located in the vertical slide opening of a corresponding vertical casing, is equipped with and vertical stud in the bottom end of vertical slide bar
The vertical screw hole of portion's adaptation, the top of vertical slide bar is equipped with the connecting portion being connected with main drive rod.
2. portable robot according to claim 1, it is characterised in that：Ontology further includes the camera shooting being built in housing
Module；Lower part of the housing is equipped with transparent observation window.
3. portable robot according to claim 1, it is characterised in that：Two enhancings are additionally provided between two support feets
Link assembly；Each enhancing link assembly includes the first connecting rod being fixed in a support feet and is fixed at another
Second connecting rod in support feet, first connecting rod are equipped with slide opening portion, and second connecting rod is equipped with traveller portion, and the traveller portion of second connecting rod is located at
In the slide opening portion of first connecting rod.
4. portable robot according to claim 3, it is characterised in that：Drive link is set along plumb line direction.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710635117.0A CN107352002B (en) | 2017-07-30 | 2017-07-30 | A kind of portable robot |
| CN201810552711.8A CN108527397A (en) | 2017-07-30 | 2017-07-30 | A kind of portable robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710635117.0A CN107352002B (en) | 2017-07-30 | 2017-07-30 | A kind of portable robot |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810552711.8A Division CN108527397A (en) | 2017-07-30 | 2017-07-30 | A kind of portable robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107352002A CN107352002A (en) | 2017-11-17 |
| CN107352002B true CN107352002B (en) | 2018-06-26 |
Family
ID=60286166
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810552711.8A Withdrawn CN108527397A (en) | 2017-07-30 | 2017-07-30 | A kind of portable robot |
| CN201710635117.0A Active CN107352002B (en) | 2017-07-30 | 2017-07-30 | A kind of portable robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810552711.8A Withdrawn CN108527397A (en) | 2017-07-30 | 2017-07-30 | A kind of portable robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN108527397A (en) |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4638610A (en) * | 1983-03-03 | 1987-01-27 | Elevator Gmbh | Theatrical stage |
| CN101092230B (en) * | 2007-06-28 | 2013-06-05 | 倪既民 | Forklift truck with combination of foldaway attached frame with changeable fork |
| CN103979459B (en) * | 2014-05-26 | 2016-05-18 | 黄卉 | Lowering or hoisting gear |
| CN104925709A (en) * | 2015-05-28 | 2015-09-23 | 中国科学院自动化研究所（洛阳）机器人与智能装备创新研究院 | Water lifting and supporting device |
| CN205654154U (en) * | 2015-12-29 | 2016-10-19 | 颜光耀 | Scalable lift bridge type parking equipment alive |
| CN205786710U (en) * | 2016-06-02 | 2016-12-07 | 国家电网公司 | Multifunction test platform |
| CN105967121A (en) * | 2016-07-26 | 2016-09-28 | 钦州学院 | Scissor-type lifting device capable of adjusting height flexibly |
-
2017
- 2017-07-30 CN CN201810552711.8A patent/CN108527397A/en not_active Withdrawn
- 2017-07-30 CN CN201710635117.0A patent/CN107352002B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108527397A (en) | 2018-09-14 |
| CN107352002A (en) | 2017-11-17 |
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