CN107434017B - A kind of portable robot - Google Patents
A kind of portable robot Download PDFInfo
- Publication number
- CN107434017B CN107434017B CN201710641139.8A CN201710641139A CN107434017B CN 107434017 B CN107434017 B CN 107434017B CN 201710641139 A CN201710641139 A CN 201710641139A CN 107434017 B CN107434017 B CN 107434017B
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- driving
- horizontal
- bar
- vertical slide
- drive
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Classifications
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- 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
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- 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
- B25J18/00—Arms
- B25J18/02—Arms extensible
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (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；Each folding landing leg includes itself limiting the mounting rod on housing and the drive link for driving pulls or folding；It stretches driving mechanism and includes two rotated synchronously driving output shafts and two transmission components；Each transmission component includes driving gear, driven gear component, vertical slide bar, horizontal drive bar assembly and the resetting spring for providing reseting elasticity for vertical slide bar；During each driving gear rotation, driving tooth wheel portion drives a corresponding driven gear to rotate by driven tooth wheel portion, and then a corresponding vertical slide bar is driven to move up and down by the involute helicla flute on driven gear, and then horizontal drive bar and drive link is driven to move up and down；Horizontal stud portion drives a corresponding mounting rod to move back and forth in the horizontal direction.
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 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；Supporting mechanism includes folding landing leg and stretching, extension driving mechanism；Each folding landing leg includes limiting itself in housing
On mounting rod and drive link for driving pulls or folding；Each mounting rod is slidably arranged in housing wall in the horizontal direction
On body；It stretches driving mechanism and includes two rotated synchronously driving output shafts and two transmission components；Each transmission component includes master
Moving gear, driven gear component, vertical slide bar, horizontal drive bar assembly and the reset for providing reseting elasticity for vertical slide bar
Spring；
Driving 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；Each mounting rod is equipped with and the horizontal screw hole of horizontal stud portion adaptation, horizontal stud portion
In the horizontal screw hole of a corresponding mounting rod；Each driven gear includes driven tooth wheel portion, involute helical groove portion and shaft
Portion；The both ends of horizontal drive bar assembly are respectively connected with the drive link in a corresponding folding landing leg；There are two case top is set
Vertical casing with vertical slide opening, each vertical slide bar are located in a corresponding vertical slide opening and can up and down reciprocatingly slide；Each lead
The top of vertical slide bar is equipped with the connecting portion being connected with main drive rod, and the bottom end of each vertical slide bar is equipped with for intercalation in involute spiral shell
Guide and limit portion in the groove in spin slot portion；Each resetting spring is set on a corresponding vertical slide bar, for for vertical slide bar
Downward elastic force is provided；
During each driving gear rotation, driving tooth wheel portion drives a corresponding driven gear to rotate by driven tooth wheel portion, into
And a corresponding vertical slide bar is driven to move up and down by the involute helicla flute on driven gear, and then drive horizontal drive bar
It is moved up and down with drive link；Horizontal stud portion drives a corresponding mounting rod to move back and forth in the horizontal direction.
In said program, ontology further includes the photographing module being built in housing.
In said program, shaft includes two evagination slide-bars positioned at driving gear both sides；It is fixed in housing more
A limiting sliding sleeve with limiting slide opening, the evagination slide-bar of each driven gear are located at the limiting cunning of corresponding one limiting sliding sleeve respectively
Kong Zhong；Each driven gear can reciprocatingly slide along limiting slide opening.
In said program, horizontal drive bar assembly includes main drive rod and two secondary drivings positioned at main drive rod both sides
Bar, main drive rod and secondary drive rod are horizontally disposed, and the outboard end of each pair drive rod passes through pin and a corresponding biography
Lever is connected；The two side ends of main drive rod are equipped with the sliding pillar of evagination, the side of the main drive rod of adjoining of each pair drive rod
End is equipped with center slide opening, and each sliding pillar is inserted into a corresponding center slide opening and can simultaneously reciprocatingly slide along the center slide opening.
In said program, folding landing leg, which is further included, is combined the complex wrapping frame formed and complex wrapping frame by multiple X-frames
Middle one X-frame in the top V-arrangement interlocking bar being connected and the support feet being connected with complex wrapping frame bottom；Each complex wrapping frame
A uppermost X-frame is arranged on by a pin rotation on a corresponding mounting rod；Drive link is set along plumb line direction
It puts；The bottom end of drive link and the hinged end of a corresponding V-arrangement interlocking bar are rotatedly connected.
The present invention has positive effect：(1) two folding landing leg folding extension but also can away from each other approach, and store
When can be smaller by folding two whole occupied spaces of folding landing leg, during work two folding landing legs can away from each other from
And bearing area is promoted to ensure stability, and two folding landing leg of tensible supports ontology prevents the dirty transparent sight of sludge from mud bottom
Examine window.(2) stretching, extension driving mechanism pushes vertical slide bar to move up it by using involute helical groove portion, and utilizes resetting spring
Pushing vertical slide bar moves down it, so as to fulfill moving back and forth up and down for vertical slide bar.
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 limit sliding sleeve 14, limit
Position slide opening 141, photographing module 2, cradle head mechanism 21, 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, enhance link assembly 36, first connecting rod 361, second connecting rod 363, driving mechanism 4, stretching, extension driving electricity stretch in traveller portion 364
Machine 41, drive shaft 411 drive output shaft 412, transmission component 5, driving gear 51, driving tooth wheel portion 511, horizontal stud portion
512, driven gear 52, driven tooth wheel portion 521, involute helical groove portion 522, shaft 523, evagination slide-bar 524, vertical slide bar
53, connecting portion 531, guide and limit portion 532, horizontal drive bar assembly 54, main drive rod 541, sliding pillar 542, secondary drive rod
543, center slide opening 544, annular bar portion 545, resetting spring 55, propeller driving mechanism 6, screw blade 61, blade driving electricity
Machine 62, blade drive rod 63.
Specific embodiment
(embodiment 1)
The present embodiment is a kind of robot, as shown in Fig. 1 to Fig. 5, including ontology, supporting mechanism and propeller driving mechanism
6；Ontology includes housing 1 and the photographing module 2 being built in housing；Supporting mechanism includes being arranged on two foldings of hull outside
Supporting leg 3 and the stretching, extension driving mechanism 4 for driving two folding landing leg synchronous extensions or folding.
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 are (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.
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 driving gear 51, driven gear component 52, vertical slide bar 53, horizontal drive bar assembly 54
With for providing the resetting spring 55 of reseting elasticity for vertical slide bar；
Driving gear 51 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 driving gear and horizontal stud portion are made into integration, and the two is synchronized with the movement；When driving gear is extended driving
When motor drives, horizontal stud portion drives a corresponding mounting rod reciprocating rotation by screw drive mode so that the mounting rod
It 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 folding landing legs
It is located remotely from each other or approaches.
Case top set there are two have vertical slide opening 131 vertical casing 13.
Each driven gear includes driven tooth wheel portion 521, involute helical groove portion 522 and shaft 523；Driving tooth wheel portion and
The shape of driven tooth wheel portion is the circumference gear to fit each other, and driving gear is parallel with the center of rotation axis of driven gear
Horizontal line, driving gear are located at the surface of a corresponding driven gear.
Driven gear portion is located at driving gear close to the side of stretching, extension driving motor, and involute helical groove portion is located at driving tooth
The opposite side of wheel, shaft include two evagination slide-bars 524 positioned at driven gear both sides；In the present embodiment, driven tooth wheel portion
521st, involute helical groove portion 522 and shaft 523 are made into integration.
Multiple limiting sliding sleeves 14 with limiting slide opening 141, the evagination slide-bar point of each driven gear are fixed in housing
Not Wei Yu it is corresponding one limiting sliding sleeve limiting slide opening in；Each evagination slide-bar can be rotated and be slided in slide opening is limited.This knot
Structure can cause each driven gear not only to be rolled along limiting slide opening, but also can be in the horizontal direction in slide opening is limited toward polyslip.
During each driving gear rotation, by the way that driven tooth wheel portion is driven to rotate, and then corresponding driven gear rotation is driven,
Namely the corresponding involute helical groove portion of synchronous drive and shaft rotate.
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.
Each vertical slide bar is located in the vertical slide opening of a corresponding vertical casing, and can up and down reciprocatingly be slided along vertical slide opening
It is dynamic；The top of each vertical slide bar is equipped with the connecting portion 531 being connected with main drive rod, and the bottom end of each vertical slide bar is equipped with guide and limit
The involute helical groove portion adaptation of portion 532, the shape in the guide and limit portion and a corresponding driven gear, so that the guiding
Limiting section can be with intercalation in the groove of involute helical groove portion；In the present embodiment, which is one and is set in main driving
Lantern ring on bar.
Each resetting spring is set on a corresponding vertical slide bar, for providing downward reseting elasticity for vertical slide bar,
So that the bottom end of the vertical slide bar is crimped on always in the groove of corresponding involute helical groove portion, prevent the vertical slide bar and from
Moving gear is detached from.In the present embodiment, a baffle ring is fixed on the outer wall of vertical slide bar, the top of resetting spring is connected to lead
It hangs down on casing, the bottom end of resetting spring is connected on baffle ring, which is compressed spring.
When driven gear rotates, due to a corresponding vertical slide bar bottom end intercalation always and be crimped on the driven gear
Involute helical groove portion groove in, and since vertical slide bar is by vertical casing limit, central shaft line position is constant；So
So that the driven gear reciprocatingly slides along the limiting slide opening of limit casing, the present embodiment is reciprocatingly slided along horizontal line direction；Institute
Can jack up or fall vertical slide bar with the involute helical groove portion of driven gear, realize drive horizontal drive bar assembly rise or
It moves down, and then the drive link 33 in Foldable supporting leg.
In the present embodiment, two driving gear of stretching, extension driving motor synchronous drive and two driven gears rotate synchronously, two water
Flat stud portion drives two mounting rods to synchronize overhanging along horizontal slide opening or inside contract, and then drives two secondary drivings by folding landing leg
Bar is overhanging or inside contracts so that the distance between two folding landing legs increased or decrease；It is whole when the spacing increase of two folding landing legs
It is 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 driven gears drive two vertical slide bars and horizontal drive bar assembly to move up or decline, and then drive each folding
Drive link in 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 folding
The X-frame of the top one of folded supporting leg is mounted on mounting rod, so entire stretching or pressure of the folding landing leg with V-arrangement interlocking bar
It contracts and stretches or fold up；When folding landing leg full extension, support feet is displaced downwardly to more than housing bottom, thus by housing branch
It props up and 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.
Screw blade 61, the blade of setting in the housing that propeller driving mechanism 6 includes being located at right over housing drive
Motor 62 and the blade drive rod 63 being rotatably arranged in housing top wall；Blade driving motor drives spiral by blade drive rod
Paddle reciprocating rotation；Since horizontal drive bar assembly is also in the surface of housing, in order to avoid horizontal drive bar assembly interferes spiral
Paddle rotates, and the annular bar portion 545 that the middle part of main drive rod has and propeller is arranged concentrically, the aperture of the annular bar portion is more than spiral shell
Revolve the maximum outside diameter of blade.This structure causes the two not interfere each other, ensures respective normal operation.
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 characterized in that：Supporting mechanism packet
Include folding landing leg and stretching, extension driving mechanism；
Each folding landing leg includes itself limiting the mounting rod on housing and the biography for driving pulls or folding
Lever；Each mounting rod is slidably arranged in the horizontal direction on housing wall body；
It stretches driving mechanism and includes two rotated synchronously driving output shafts and two transmission components；Each transmission component is included actively
Gear, driven gear component, vertical slide bar, horizontal drive bar assembly and the reset bullet for providing reseting elasticity for vertical slide bar
Spring；
Driving gear includes driving tooth wheel portion and horizontal stud portion, and driving tooth wheel portion is fixed at corresponding driving output shaft
On, and the reciprocating rotation on vertical guide；Each mounting rod is equipped with and the horizontal screw hole of horizontal stud portion adaptation, and horizontal stud portion is located at
In the horizontal screw hole of a corresponding mounting rod；
Each driven gear includes driven tooth wheel portion, involute helical groove portion and shaft；
The both ends of horizontal drive bar assembly are respectively connected with the drive link in a corresponding folding landing leg；
Case top is set there are two the vertical casing with vertical slide opening, and each vertical slide bar is located in a corresponding vertical slide opening simultaneously
It can up and down reciprocatingly slide；
The top of each vertical slide bar is equipped with the connecting portion being connected with main drive rod, and the bottom end of each vertical slide bar is equipped with to exist for intercalation
Guide and limit portion in the groove of involute helical groove portion；Each resetting spring is set on a corresponding vertical slide bar, for for
Vertical slide bar provides downward elastic force；
During each driving gear rotation, driving tooth wheel portion drives a corresponding driven gear to rotate by driven tooth wheel portion, Jin Ertong
The involute helicla flute crossed on driven gear drives a corresponding vertical slide bar to move up and down, and then drives horizontal drive bar and biography
Lever moves up and down；Horizontal stud portion drives a corresponding mounting rod to move back and forth in the horizontal direction.
2. portable robot according to claim 1, it is characterised in that：Ontology further includes the camera shooting being built in housing
Module；Shaft includes two evagination slide-bars positioned at driven gear both sides；It is fixed in housing multiple with limiting slide opening
Limiting sliding sleeve, the evagination slide-bar of each driven gear is located at respectively in the limiting slide opening of corresponding one limiting sliding sleeve；Each driven tooth
Wheel can reciprocatingly slide along limiting slide opening.
3. portable robot according to claim 2, it is characterised in that：Horizontal drive bar assembly include main drive rod and
Two secondary drive rods positioned at main drive rod both sides, main drive rod and secondary drive rod are horizontally disposed, each pair drive rod
Outboard end be connected by pin with a corresponding drive link；The two side ends of main drive rod are equipped with the sliding pillar of evagination, respectively
One side of the main drive rod of adjoining of secondary drive rod is equipped with center slide opening, and each sliding pillar, which is inserted into a corresponding center slide opening, simultaneously may be used
Along the center, slide opening reciprocatingly slides.
4. portable robot according to claim 3, it is characterised in that：Folding landing leg is further included by multiple X-frame groups
Close the complex wrapping frame formed, with the V-arrangement interlocking bar that is connected of one X-frame in the top and and complex wrapping in complex wrapping frame
The support feet that frame bottom is connected；Each uppermost X-frame of complex wrapping frame is arranged on corresponding one by a pin rotation
On a mounting rod；Drive link is set along plumb line direction；The bottom end of drive link and the rotation of the hinged end of a corresponding V-arrangement interlocking bar
It is connected.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810556663.XA CN108839778A (en) | 2017-07-31 | 2017-07-31 | There are two the portable robots of folding landing leg for a kind of tool |
| CN201810556640.9A CN108791770A (en) | 2017-07-31 | 2017-07-31 | portable robot |
| CN201810552862.3A CN108750047A (en) | 2017-07-31 | 2017-07-31 | A kind of portable robot |
| CN201710641139.8A CN107434017B (en) | 2017-07-31 | 2017-07-31 | A kind of portable robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710641139.8A CN107434017B (en) | 2017-07-31 | 2017-07-31 | A kind of portable robot |
Related Child Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810556663.XA Division CN108839778A (en) | 2017-07-31 | 2017-07-31 | There are two the portable robots of folding landing leg for a kind of tool |
| CN201810552862.3A Division CN108750047A (en) | 2017-07-31 | 2017-07-31 | A kind of portable robot |
| CN201810556640.9A Division CN108791770A (en) | 2017-07-31 | 2017-07-31 | portable robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107434017A CN107434017A (en) | 2017-12-05 |
| CN107434017B true CN107434017B (en) | 2018-06-26 |
Family
ID=60460918
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810552862.3A Withdrawn CN108750047A (en) | 2017-07-31 | 2017-07-31 | A kind of portable robot |
| CN201810556663.XA Withdrawn CN108839778A (en) | 2017-07-31 | 2017-07-31 | There are two the portable robots of folding landing leg for a kind of tool |
| CN201710641139.8A Active CN107434017B (en) | 2017-07-31 | 2017-07-31 | A kind of portable robot |
| CN201810556640.9A Withdrawn CN108791770A (en) | 2017-07-31 | 2017-07-31 | portable robot |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810552862.3A Withdrawn CN108750047A (en) | 2017-07-31 | 2017-07-31 | A kind of portable robot |
| CN201810556663.XA Withdrawn CN108839778A (en) | 2017-07-31 | 2017-07-31 | There are two the portable robots of folding landing leg for a kind of tool |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810556640.9A Withdrawn CN108791770A (en) | 2017-07-31 | 2017-07-31 | portable robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (4) | CN108750047A (en) |
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| JPH0655470A (en) * | 1992-08-05 | 1994-03-01 | Hitachi Zosen Corp | Work robot transfer device in box structure |
| CN101164859A (en) * | 2007-09-04 | 2008-04-23 | 上海微电子装备有限公司 | Precision lifting device |
| CN101993016B (en) * | 2009-08-12 | 2014-07-09 | 鸿富锦精密工业（深圳）有限公司 | Elevating mechanism |
| CN201733377U (en) * | 2010-08-10 | 2011-02-02 | 深圳市蓝恩数字技术有限公司 | Underwater camera |
| KR20120121947A (en) * | 2011-04-28 | 2012-11-07 | 현대중공업 주식회사 | Mobile robot for working inside of hull block |
| GB201112105D0 (en) * | 2011-07-14 | 2011-08-31 | Aquamarine Power Ltd | An underwater crawler apparatus |
| CN202594711U (en) * | 2012-03-05 | 2012-12-12 | 曾令诸 | Lead screw type driving lifting platform |
| CN102705632B (en) * | 2012-05-30 | 2014-01-01 | 浙江理工大学 | Bionic robot capable of extending to avoid obstacles |
| CN203442082U (en) * | 2013-09-10 | 2014-02-19 | 大陆汽车电子(芜湖)有限公司 | Cam gear and linear driving device comprising cam gear |
| ES2544007B2 (en) * | 2014-02-25 | 2016-02-19 | Universidad Politécnica de Madrid | Transformable humanoid submarine robot |
| CN104589312B (en) * | 2015-01-24 | 2016-02-24 | 江西省机械科学研究所 | The swingable parallel electric cylinder synchronous telescoping mechanism of gear driven type |
| CN204489154U (en) * | 2015-02-16 | 2015-07-22 | 福州大学 | A kind of shallow water bridge pier underwater detecting robot |
| CN205111837U (en) * | 2015-10-31 | 2016-03-30 | 吉林江机特种工业有限公司 | Explosive ordnance disposal mechanical hand |
| CN105563466A (en) * | 2016-01-28 | 2016-05-11 | 燕山大学 | Three-degree-of-freedom parallel attitude-adjusting and vibration-isolating platform comprising tower-shaped telescopic branches |
| CN106143842B (en) * | 2016-07-07 | 2018-02-23 | 淄博职业学院 | A kind of six propeller underwater robots |
| CN106628072B (en) * | 2016-09-30 | 2019-06-11 | 哈尔滨工程大学 | A kind of bionical deep-sea unmanned submersibles of state that navigate more |
| CN106737578B (en) * | 2016-12-15 | 2018-11-13 | 山东大学 | A kind of quadruped robot |
| CN107054588B (en) * | 2017-01-22 | 2019-02-12 | 浙江大学 | A kind of underwater crawl stroke formula robot and its working method |
-
2017
- 2017-07-31 CN CN201810552862.3A patent/CN108750047A/en not_active Withdrawn
- 2017-07-31 CN CN201810556663.XA patent/CN108839778A/en not_active Withdrawn
- 2017-07-31 CN CN201710641139.8A patent/CN107434017B/en active Active
- 2017-07-31 CN CN201810556640.9A patent/CN108791770A/en not_active Withdrawn
Also Published As
| Publication number | Publication date |
|---|---|
| CN108791770A (en) | 2018-11-13 |
| CN107434017A (en) | 2017-12-05 |
| CN108839778A (en) | 2018-11-20 |
| CN108750047A (en) | 2018-11-06 |
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