CN207139783U - Self-movement robot - Google Patents
Self-movement robot Download PDFInfo
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- CN207139783U CN207139783U CN201720992533.1U CN201720992533U CN207139783U CN 207139783 U CN207139783 U CN 207139783U CN 201720992533 U CN201720992533 U CN 201720992533U CN 207139783 U CN207139783 U CN 207139783U
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Abstract
A kind of self-movement robot includes main body, main body includes absorbing unit, control unit and walking unit (300), main body includes the first housing (100) and the second housing (200) that can vertically set, main body also includes upset component (400), for driving the first housing and the relative upset of the second housing, it is at least one in the first housing and the second housing to be provided with depressed part, when the first housing and the second housing are vertically arranged, at least part main body is located in depressed part, control unit control self-movement robot upset or two bodies are walked when being vertically arranged.At least part main body is located in depressed part by the utility model so that the volume-diminished of fuselage when the first housing and the second housing are vertically arranged, protects the integrality of its outward appearance, does not affect the appearance；Further, since there is provided upset component so that self-movement robot can carry out crossing walking, so as to clear the jumps, enhance the environmental suitability of self-movement robot.
Description
Technical field
A kind of self-movement robot is the utility model is related to, belongs to small household appliances manufacturing technology field.
Background technology
Current robot increasing on the market has the ability walked on vertical plane (including plane and curved surface), its
It is varied to be fixed on the principle in face, there is magnetic suck, negative-pressure adsorption, Wind power propelling etc..These robots are run on vertical plane
When, in order to ensure safety, typically require that working face is close in its guarantee.When robot runs into barrier (raised, depression or offset
Deng) when, also to possess the ability across barrier, such as：
Application No. 200820079153.X patent document discloses a kind of binary climbing robot of joint connection, public
The number of opening be US2007/0235238A1 patent document disclose a kind of binary climbing robot, its can realize horizontal plane and
Conversion between vertical plane, the barrier (including raised and gap) in same plane is crossed, but its volume is big, creep speed
Slowly.
Application No. 201521056064.X patent document discloses one kind and is made up of Double-sucker, joint and elevating mechanism
Climb wall sweeping robot, it carries out obstacle leap with similar human hand and arm joint structure；Application No.
201410671401.X patent document discloses a kind of to be made up of double cleaning round brush, Double-sucker group, joint and elevating mechanisms
Glass curtain wall cleaning machine, it promotes piston rod and support to carry out obstacle leap with cylinder；Application No. 201510082495.1
Patent document disclose it is a kind of can crossing over blockage Intelligent device for cleaning glass, by main body adsorbing mechanism, walking mechanism, lifting machine
Structure, separate type absorption fixation kit, involve the composition such as winding mechanism Power Supply Assembly, probe assembly；Application No. 95215824.8
Patent document disclose it is a kind of by automatic wiping that alternately Suction cup assembly, U-shaped swinging mounting, traversing motor and lifting motor are formed
Window machine；The patent document of Application No. 95215824.8 discloses a kind of automatic self-sucking window cleaner, by frame, rotation rubbing head etc.
Composition, frame is by glass one side equipped with the sucker that alternately can be inhaled, put and advance；Publication No. US2011/0180333A1 patent
Climbing robot in document, it includes the two legs connected by Centroid, and every leg is provided with the foot of tiltable and rotation；
Although the robot disclosed in above-mentioned more documents can walk in vertical metope, and the energy with certain leaping over obstacles
Power, but joint drive is more, obstacle detouring process is complicated, and quality is overweight.
Utility model content
Technical problem to be solved in the utility model is in view of the shortcomings of the prior art, there is provided a kind of from mobile machine
People, by the way that at least part main body is arranged in depressed part so that when the first housing and the second housing are vertically arranged, the body of fuselage
Product reduces, and protects the integrality of its outward appearance, does not affect the appearance；Further, since there is provided upset component so that from mobile machine
People can carry out crossing walking, so as to clear the jumps, enhance the environmental suitability of self-movement robot.
Technical problem to be solved in the utility model is achieved by the following technical solution：
A kind of self-movement robot, including main body, the main body include absorbing unit, control unit and walking unit, institute
The first housing and the second housing that main body includes vertically setting are stated, the main body also includes upset component, for driving
The dynamic first housing and the second housing are relative to be overturn, at least one in the first housing and the second housing to be provided with depressed part, when the
When one body and the second housing are vertically arranged, at least part main body is located in depressed part, control unit control self-movement robot
Upset or two bodies are walked when being vertically arranged.
In order to reduce the volume of fuselage, at least a portion of the upset component is located in the depressed part.
In order to further reduce the volume of fuselage, the depressed part include the first depressed part for being arranged on the first housing with
And the second depressed part on the second housing, the absorbing unit include the first absorbing unit on the first housing and the
The second absorbing unit on two bodies, when the first housing and the second housing are vertically arranged, first absorbing unit and second
At least a portion of absorbing unit is respectively in the second depressed part and the first depressed part.
In order to simplify walking unit, the walking unit is arranged on the first housing or the second housing.
Preferably, the walking unit includes one group of driving wheel, and the rotating shaft of the driving wheel is fixed on the first housing and
Between two bodies, the diameter of driving wheel be more than the first housing and the second housing height and.Or as claimed in claim 4
Self-movement robot, the walking unit include one group of driving wheel, and the driving wheel is connected to the first machine by active connection
On body or the second housing so that walking unit can be driven from mobile machine when the first housing or second housing contact walkway surface
People walks.
In order to realize the upset of self-movement robot, the upset component is arranged on self-movement robot front portion, including according to
Secondary the first connected drive rod, the second drive rod, the 3rd drive rod and upset part, on the 3rd drive rod and first housing front end
Portion is hinged, and the first drive rod is hinged with second housing front lower portion.
Preferably, the upset part includes multiple gears and motor, and the motor is arranged on the second driving
On bar, it is connected by multiple gears with the first drive rod, the 3rd drive rod and main body.
Or the upset part includes multiple torsion springs, motor and driving steel wire, the 3rd drive rod and the first machine
The junction of body and the first drive rod are provided with torsion spring with second housing junction, and motor is arranged on the second drive rod,
By driving steel wire to be connected with the first drive rod, the 3rd drive rod and main body.Second drive rod and the first drive rod and
It is fixedly connected between three drive rods.
In order to increase its upset ability, it is hinged between second drive rod and the first drive rod and the 3rd drive rod, and
Second drive rod and the junction of the first drive rod and the 3rd drive rod are provided with torsion spring.
The motor includes the first motor and the second motor, the driving steel wire include the first steel wire,
Second steel wire, the 3rd steel wire and the 4th steel wire；Wherein, one end of the first steel wire and the second steel wire and the first of the first motor
Rotary shaft is connected, and the other end is connected on the first drive rod and the second drive rod, one end of the 3rd steel wire and the 4th steel wire
It is connected with the second rotary shaft of the second motor, the other end is connected on the first housing and the second housing.
In order to reduce frictional resistance during steel wire commutation, on first drive rod, the second drive rod and the 3rd drive rod
U fluted shaft bearing assemblies are equipped with, the first steel wire, the second steel wire, the 3rd steel wire and the 4th steel wire connect after the positioning of U fluted shafts bearing assembly
On self-movement robot.
Preferably, the U fluted shafts bearing assembly is arranged in the middle part of the first drive rod, the second drive rod and the 3rd drive rod.
In summary, at least part main body is located in depressed part by the utility model so that the first housing and the second housing
When being vertically arranged, the volume-diminished of fuselage, the integrality of its outward appearance is protected, is not affected the appearance；Further, since there is provided upset
Component so that self-movement robot can carry out crossing walking, so as to clear the jumps, enhance the environment of self-movement robot
Adaptability.
Below in conjunction with the accompanying drawings and specific embodiment, the technical solution of the utility model is described in detail.
Brief description of the drawings
Fig. 1 is the structure sectional view of the self-movement robot of the utility model embodiment one；
Fig. 2 is the structural representation after the expansion of the self-movement robot of the utility model embodiment one；
Fig. 3 is the structural representation that the utility model embodiment one overturns component；
Fig. 4 is the structural representation of the utility model U fluted shaft bearing assemblies；
Fig. 5 is the deployed condition schematic diagram one of the self-movement robot of the utility model embodiment one；
Fig. 6 is the deployed condition schematic diagram two of the self-movement robot of the utility model embodiment one；
Fig. 7 is the obstacle detouring process schematic of the self-movement robot of the utility model embodiment two.
Embodiment
Embodiment one
Fig. 1 is the structure sectional view of the utility model self-movement robot；Fig. 2 is the utility model self-movement robot exhibition
Structural representation after opening；Fig. 3 is the structural representation that the utility model overturns component.As shown in Figure 1 to Figure 3, this practicality is new
Type provides a kind of self-movement robot, including main body, and main body includes the machine of the first housing 100 and second that can vertically set
Body 200, it is at least one in the first housing 100 and the second housing 200 to be provided with depressed part, in the present embodiment, the first housing
100 and the second housing 200 be equipped with depressed part, respectively the first depressed part 101 and the second depressed part 201.When the first housing and
When the second housing is vertically arranged, at least part main body is located in depressed part, so as to reduce the body volume of main body.
Specifically, the first housing 100 includes the first cleaning unit 110, the first absorbing unit 120 and probe unit (in figure
It is not shown), the second housing 200 includes the second cleaning unit 210, the second absorbing unit 220 and probe unit (not shown).
Wherein, the first absorbing unit 120 and the second absorbing unit composition absorbing unit, it can use a variety of suction types to make from mobile
Robot is adsorbed on walkway surface, and such as magnetic suck, negative-pressure adsorption, the utility model absorbing unit include vacuum motor, profit
Self-movement robot is adsorbed on walkway surface with its caused negative pressure, due to equal on the first housing 100 and the second housing 200
Provided with absorbing unit, therefore self-movement robot upper and lower surface can be adsorbed on walkway surface.First cleaning unit 110 and second
Cleaning unit 210 is separately positioned on the first housing 100, the outside of the second housing 200, dirty on walkway surface for clearing up,
First cleaning unit 110 and the second cleaning unit 210 can be rag or scraping article etc..Probe unit includes various sensors, such as
Vacuum transducer, range sensor etc., for detecting absorption affinity, self-movement robot and the walkway surface or obstacle of absorbing unit
State of the distance between thing and self-movement robot itself etc..In the present embodiment, because the height of absorbing unit is higher than
The height of the first housing 100 or the second housing 200, therefore, when absorbing unit is arranged on into the first housing 100 or the second housing
When in 200, the fuselage of the first housing 100 or the second housing 200 can be protruded, in order to reduce the first housing 100 and the second housing 200
Volume when being vertically arranged, when the first housing 100 and the second housing 200 are vertically arranged, first absorbing unit 120 and
At least a portion of two absorbing units 220 is respectively in the second depressed part 201 and the first depressed part 101.
Control unit (not shown) is provided with self-movement robot, control unit is used to control self-movement robot work
Make, walk, overturn, adsorb and clean when such as two bodies are vertically arranged.Self-movement robot also includes walking unit 300, OK
Unit 300 is walked to be arranged on the first housing 100 or the second housing 200.In the utility model, either the first housing 100 is gone back
It is that the second housing 200 is adsorbed on walkway surface, walking unit 300 can drive self-movement robot to walk.It is new in this practicality
In type, (driving wheel can be fixed one group of driving wheel for being fixed on using rotary shaft between the first housing 100 and the second housing 200
On the first housing 100, can also be fixed on the second housing 200), the diameter of the driving wheel is more than or slightly larger than the first housing
100 and the second housing 200 height and, and the accommodating sky of accommodating driving wheel is equipped with the first housing 100 and the second housing 200
Between, self-movement robot absorption driving wheel when on walkway surface is contacted walkway surface and is driven self-movement robot row
Walk.Or the walking unit includes one group of driving wheel, the driving wheel is connected to the first housing or by active connection
On two bodies so that walking unit can drive self-movement robot row when the first housing or second housing contact walkway surface
Walk.Specifically, movable driving wheel, spring and position-limit mechanism can be used to form adaptive working face to complete to stretch；Or profit
Adaptive face condition is formed with fixed driving wheel by motor connection spring to complete to stretch；Or utilize movable or solid
Fixed pattern driving wheel forms adaptive face condition by parallelogram lindage and completes flexible, and said structure is prior art, example
The floating type driving wheel connection disclosed in patent document US7275280B2 and US8474090 is referred to such as movable driving wheel
Mechanism designs, and will not be repeated here.
The main body of self-movement robot also includes being arranged on upset component 400 in self-movement robot, for driving the
One body 100 and the relative upset of the second housing 200.It is described to overturn at least the one of component 400 in order to reduce the body volume of main body
Part is in the depressed part.
Using the direction of travel A of self-movement robot as front, before the upset component 400 is arranged on self-movement robot
Portion, including the first drive rod 401, the second drive rod 402, the 3rd drive rod 403 and the upset part being sequentially connected, the 3rd driving
Bar is hinged with first housing upper front end, and the first drive rod is hinged with second housing front lower portion.Second drive rod 402 and first
It can be hinged or be fixedly connected between the drive rod 403 of drive rod 401 and the 3rd.
When the utility model self-movement robot first housing 100 and the second housing 200 are vertically arranged, the first drive rod
401 and the 3rd drive rod 403 be arranged in parallel, the second drive rod 402 is vertically arranged, certainly, the first drive rod 401, second driving
Bar 402 can also be obliquely installed with the 3rd drive rod 403 vertically, and the utility model is not limited thereto.The upset part bag
Include and turn round multiple torsion springs 410, motor and driving steel wire, the junction of the 3rd drive rod 403 and the first housing 100 and
First drive rod 401 is provided with torsion spring 410 with the junction of the second housing 200, and motor is arranged on the second drive rod 402, leads to
Steel wire of overdriving is connected with the first drive rod 401, the 3rd drive rod 403 and main body.
Exemplified by being hinged below between the second drive rod 402 and the first drive rod 401 and the 3rd drive rod 403, this is explained
The motion process and principle of utility model self-movement robot, now, the second drive rod 402 and the first drive rod 401 and the 3rd
The junction of drive rod 403 also is provided with torsion spring 410, when the second drive rod 402 and the first drive rod 401 and the 3rd drive rod 403
Between when being fixedly connected, the second drive rod 402 and the junction of the first drive rod 401 and the 3rd drive rod 403 are turned round without setting
Spring 410.Motor includes the first motor 420 and the second motor 430, and driving steel wire includes the first steel wire 422, the
Two steel wires 423, the 3rd steel wire 432 and the 4th steel wire 433.When the first housing 100 and the second housing 200 are vertically arranged, torsion spring
410 are in compressive state, and coupled two parts are supported respectively for the torque arm of torsion spring 410, for example, the first drive rod 401 with
The torque arm of the torsion spring 410 of the junction of the first housing 100 is supported with the first drive rod 401 with the first housing 100 respectively, with such
Push away.Second drive rod 402 is provided with the first motor 420 and the second motor 430, and the first of the first motor 420
Rotary shaft 421 is connected with one end of the first steel wire 422 and the second steel wire 423, the first steel wire 422 and the second steel wire 423 it is another
End, which is connected on the first drive rod 401 and the second drive rod 402, (preferably, to be connected to the first drive rod 401 and second to drive
The middle part of lever 402)；The second rotary shaft 431 and one end phase of the 3rd steel wire 432 and the 4th steel wire 433 of second motor 430
Even, the other end of the 3rd steel wire 432 and the 4th steel wire 433 is connected on the first housing 100 and the second housing 200.Due to
First steel wire 422, the second steel wire 423, the pulling force effect of the 3rd steel wire 432 and the 4th steel wire 433, the first drive rod 401, second
The relative position of the drive rod 403 of drive rod 402 and the 3rd is fixed, and torsion spring 410 is in compressive state and do not deformed.In order to reduce
Frictional resistance when steel wire commutates, overturn and be additionally provided with multiple U fluted shafts bearing assemblies 440 on component 400, specifically, the first drive rod
401st, U fluted shafts bearing assembly 440, the first steel wire 422, the second steel wire are equipped with the second drive rod 402 and the 3rd drive rod 403
423rd, the 3rd steel wire 432 and the 4th steel wire 433 are connected on self-movement robot after the positioning of U fluted shafts bearing assembly 440, preferably
, U fluted shafts bearing assembly 440 is arranged on the first drive rod 401, the second drive rod 402 and the middle part of the 3rd drive rod 403, with convenient
Steel wire commutates, and avoids loose steel wire from departing from from U grooves, and Fig. 4 is the structural representation of the utility model U fluted shaft bearing assemblies, such as
Shown in Fig. 4, the U fluted shafts bearing assembly 440 is bonded to each other by two U groove bearings to be formed.
When self-movement robot performs cleaning, the first housing 100 and the second housing 200 are setting up and down, positioned at lower section
The second housing 200 using absorbing unit absorption drive self-movement robot row on walkway surface, and by walking unit 300
Walk, now, the cleaning unit 120 being arranged on the second housing 200 cleans walkway surface.When the probe unit of self-movement robot
Detect that probe unit sends detection signal to control when obstacle (such as boss or pit) be present in front of self-movement robot
Unit, control unit control upset group work, control unit control the first motor 420 and the second motor 430 to rotate
Unwrapping wire, with the increase of steel wire length, under the twisting force that torsion spring 410 provides, the first housing 100 and the second housing 200 divide
Open, self-movement robot is in deployed condition, further, when probe unit detects in front of self-movement robot obstacle be present
When, control unit control self-movement robot stops walking after running at obstacle 2cm-10cm, upset component 400 is carried out
Upset.
Fig. 5 is the deployed condition schematic diagram one of the utility model self-movement robot, and Fig. 6 is the utility model embodiment one
The deployed condition schematic diagram two of self-movement robot.As shown in Figure 5 and Figure 6, with the increase of steel wire length, torsion spring 410 makes
The angle between angle, the second drive rod 402 and the first drive rod 401 between one drive rod 401 and the first housing 100,
The angle between angle and the 3rd drive rod 403 and the second housing 200 between two drive rods 402 and the 3rd drive rod 403
Increase, the first housing 100 are overturn forward relative to the second housing 200；When the first housing 100 and the walkway surface in front of obstacle connect
When touching, the probe unit on the first housing 100 sends detection signal to control unit, and control unit is controlled on the first housing 100
Absorbing unit work, the first housing 100 is adsorbed on walkway surface, and control the first motor 420 and the second driving
Motor 430 stops unwrapping wire；When the first housing 100 is adsorbed when on walkway surface, the probe unit on the first housing 100 is to control
Unit sends detection signal, and control unit controls the absorbing unit on the second housing 200 to be stopped, and controls the first driving electricity
The rotary wire-reeling of 420 and second motor of machine 430, steel wire overcome the torsion of torsion spring 410, make the second housing 200 forward when shortening
Overturn, between the angle, the second drive rod 402 and the first drive rod 401 between the first drive rod 401 and the first housing 100
Between angle and the 3rd drive rod 403 and the second housing 200 between angle, the second drive rod 402 and the 3rd drive rod 403
Angle reduce, the second housing 200 is overturn to the top of the first housing 100, control unit control self-movement robot after
Continuous to perform cleaning, unlike previously, now, the position of the first housing 100 and the second housing 200 is spun upside down, by
The first housing 100 performs cleaning.
You need to add is that the utility model is not intended to limit the type of upset component, for example, can also by timing belt and
The mode of the combination such as gear or multiple gears and motor carrys out closure and the expansion of realization body, for example, upset part can be with
Including multiple gears and motor, the motor is arranged on the second drive rod 402, is driven by multiple gears and first
Lever 401, the 3rd drive rod 403 and main body are connected, so as to utilize the closure and expansion of motor and gear driving main body.
Embodiment two
To save production cost, may be used also in the utility model between the second drive rod and the first drive rod and the 3rd drive rod
So that using being fixedly connected, i.e. relative position between the second drive rod, the first drive rod and the 3rd drive rod three keeps constant.
Compared with embodiment one, the present embodiment use using the second drive rod when being fixedly connected and the first drive rod and the 3rd drive rod it
Between torsion spring need not be set, without setting the first motor and corresponding first steel wire and the second steel wire on the second drive rod.
Fig. 7 is the obstacle detouring process schematic of the utility model self-movement robot.As shown in fig. 7, self-movement robot in the present embodiment
Carry out the angle between the angle and the 3rd drive rod and the second housing 200 during obstacle detouring between the first drive rod and the first housing
Changing, the angle between angle, the second drive rod and the 3rd drive rod between the second drive rod and the first drive rod is constant, the
One body 100 is adsorbed after being overturn forward relative to the second housing 200, and then the second housing 200 is overturn to realize obstacle detouring.
The utility model also provides a kind of walking applied to self-movement robot as described above and overturns control method, described
Walking upset control method includes：
S1：Self-movement robot is walked, and the first housing and the second housing are vertically arranged, and the first housing is adsorbed in walking table
Face；
S2：When detecting the obstacle that need to be crossed over, control unit control upset component operation, driving second housing upset, directly
It is bonded to the second housing overturn with walkway surface；
S3：The control unit control second housing is adsorbed in walkway surface, and the first housing stops absorption；
S4：Control upset component operation, driving first housing upset, until the first housing and the second housing recover to set vertically
The state put.
In summary, the utility model provides a kind of self-movement robot provided with depressed part, and self-movement robot is at least
Portion body is located in depressed part so that when the first housing and the second housing are vertically arranged, the volume-diminished of fuselage, protects it
The integrality of outward appearance, does not affect the appearance；Further, since there is provided upset component so that self-movement robot can be crossed
Walking, so as to clear the jumps, enhances the environmental suitability of self-movement robot.
Claims (14)
1. a kind of self-movement robot, including main body, the main body includes absorbing unit, control unit and walking unit (300),
Characterized in that, the main body includes the first housing (100) and the second housing (200) that can vertically set, the master
Body also includes upset component (400), for driving the first housing and the relative upset of the second housing, the first housing and the second machine
At least one in body to be provided with depressed part, when the first housing and the second housing are vertically arranged, at least part main body is located at depressed part
Interior, control unit control self-movement robot upset or two bodies are walked when being vertically arranged.
2. self-movement robot as claimed in claim 1, it is characterised in that at least a portion of the upset component (400)
In the depressed part.
3. self-movement robot as claimed in claim 1, it is characterised in that the depressed part includes being arranged on the first housing
(100) the first depressed part (101) on and the second depressed part (201) on the second housing (200), the absorbing unit
Including the second absorbing unit (220) on the first absorbing unit (120) and the second housing on the first housing, when the first machine
When body and the second housing are vertically arranged, at least a portion of first absorbing unit and the second absorbing unit is located at second respectively
In depressed part and the first depressed part.
4. self-movement robot as claimed in claim 1, the walking unit (300) is arranged on the first housing (100) or
On two bodies (200).
5. self-movement robot as claimed in claim 4, it is characterised in that the walking unit includes one group of driving wheel, institute
The rotating shaft for stating driving wheel is fixed between the first housing and the second housing, and the diameter of driving wheel is more than the first housing and the second housing
Height and.
6. self-movement robot as claimed in claim 4, it is characterised in that the walking unit includes one group of driving wheel, institute
State driving wheel to be connected on the first housing or the second housing by active connection so that the first housing or second housing contact row
Walking unit can drive self-movement robot to walk when walking surface.
7. self-movement robot as claimed in claim 1, it is characterised in that the upset component (400) is arranged on from mobile
Robot is anterior, including be sequentially connected the first drive rod (401), the second drive rod (402), the 3rd drive rod (403) and turn over
Turn part, the 3rd drive rod is hinged with first housing upper front end, and the first drive rod is hinged with second housing front lower portion.
8. self-movement robot as claimed in claim 7, it is characterised in that the upset part includes multiple gears and driving
Motor, the motor are arranged on the second drive rod (402), pass through multiple gears and the first drive rod (401), the 3rd drive
Lever (403) and main body are connected.
9. self-movement robot as claimed in claim 7, it is characterised in that it is described upset part include multiple torsion springs (410),
Motor and driving steel wire, junction and first drive rod of the 3rd drive rod (403) with the first housing (100)
(401) torsion spring is provided with the second housing (200) junction, motor is arranged on the second drive rod (402), by driving steel
Silk is connected with the first drive rod, the 3rd drive rod and main body.
10. self-movement robot as claimed in claim 9, it is characterised in that second drive rod (402) and the first driving
It is fixedly connected between bar (401) and the 3rd drive rod (403).
11. self-movement robot as claimed in claim 9, it is characterised in that second drive rod (402) and the first driving
It is hinged between bar (401) and the 3rd drive rod (403), and the second drive rod and the junction of the first drive rod and the 3rd drive rod
Provided with torsion spring (410).
12. self-movement robot as claimed in claim 11, it is characterised in that the motor includes the first motor
(420) and the second motor (430), the driving steel wire include the first steel wire (422), the second steel wire (423), the 3rd steel wire
And the 4th steel wire (433) (432)；
Wherein, one end of the first steel wire and the second steel wire is connected with the first rotary shaft (421) of the first motor, the other end
It is connected on the first drive rod (401) and the second drive rod (402), the one of the 3rd steel wire (432) and the 4th steel wire (433)
End is connected with the second rotary shaft (431) of the second motor, and the other end is connected to the first housing (100) and the second housing
(200) on.
13. self-movement robot as claimed in claim 12, it is characterised in that first drive rod (401), the second driving
Be equipped with U fluted shafts bearing assembly (440) on bar (402) and the 3rd drive rod (403), the first steel wire (422), the second steel wire (423),
3rd steel wire (432) and the 4th steel wire (433) are connected on self-movement robot after U fluted shafts bearing assembly (440) positioning.
14. self-movement robot as claimed in claim 13, it is characterised in that the U fluted shafts bearing assembly (440) is arranged on
In the middle part of one drive rod (401), the second drive rod (402) and the 3rd drive rod (403).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720992533.1U CN207139783U (en) | 2017-08-09 | 2017-08-09 | Self-movement robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720992533.1U CN207139783U (en) | 2017-08-09 | 2017-08-09 | Self-movement robot |
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| CN207139783U true CN207139783U (en) | 2018-03-27 |
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| CN110104082A (en) * | 2019-05-24 | 2019-08-09 | 北京深醒科技有限公司 | A kind of security protection patrol robot that can be used for compared with low spatial |
| CN111766877A (en) * | 2018-06-27 | 2020-10-13 | 北京航空航天大学 | Robot |
| CN112896356A (en) * | 2021-04-21 | 2021-06-04 | 衡昇科技有限公司 | Controllable wall climbing adsorption device of magnetic force constructs and wall climbing robot |
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- 2017-08-09 CN CN201720992533.1U patent/CN207139783U/en active Active
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