CN208992720U - Robot - Google Patents
Robot Download PDFInfo
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- CN208992720U CN208992720U CN201821874678.2U CN201821874678U CN208992720U CN 208992720 U CN208992720 U CN 208992720U CN 201821874678 U CN201821874678 U CN 201821874678U CN 208992720 U CN208992720 U CN 208992720U
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- vacuum pump
- pin shaft
- support arm
- main body
- valve
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Abstract
The utility model provides a kind of robot, comprising: main body；Adsorbent equipment is arranged on the body, for being adsorbed on working face；Running gear is arranged on the body, for walking on the working face；Linking arm, the linking arm is hinged by the first pin shaft and the main body, and the linking arm is equipped with executive device, and the executive device is for handling the working face；Drive system is connect with the linking arm, for driving the linking arm to rotate centered on first pin shaft relative to the main body.Working efficiency can be improved in the utility model.
Description
Technical field
The utility model relates to walking arrangement technology more particularly to a kind of robots.
Background technique
With the high speed development of modern society and science and technology, the application of robot is gradually risen, especially in high-risk ring
The operation in border such as high-altitude cleaning etc., robot can replace worker's operation.
Existing clean robot generally includes adsorbent equipment, cleaning device, robot body and running gear, robot
Main body is adsorbed on the work surface by adsorbent equipment, and drives robot body to walk along working surface by running gear,
In robot body along working surface walking process, cleaning device can clear up working face.
However, existing clean robot when clearing up cylinder or tube body, needs each face in cylinder or tube body
On repeatedly walking could complete cleaning to cylinder or tube body, therefore existing clean robot track route in scale removal process
Longer, working efficiency is lower.
Utility model content
The utility model provides a kind of robot, to improve working efficiency.
The utility model provides a kind of robot, comprising:
Main body；
Adsorbent equipment is arranged on the body, for being adsorbed on working face；
Running gear is arranged on the body, for walking on the working face；
Linking arm, the linking arm is hinged by the first pin shaft and the main body, and the linking arm is equipped with executive device,
The executive device is for handling the working face；
Drive system is connect with the linking arm, for driving the linking arm opposite centered on first pin shaft
It is rotated in the main body.
The robot, it is preferred that the linking arm includes first support arm and second support arm, the first support arm and
The executive device is equipped on two support arms, the first end of the first support arm is cut with scissors by first pin shaft and the main body
It connects, the second support arm is arranged in the second end of the first support arm and forms the first set angle, institute with the first support arm
Plane where stating first support arm and second support arm forms the second set angle with first pin shaft.
The robot, it is preferred that first set angle and second set angle are 90 degree.
The robot, it is preferred that the linking arm is two, and two linking arms are symmetricly set on the main body
Two sides.
The robot, it is preferred that the drive system includes cylinder, and the interconnecting piece of the cylinder passes through the second pin shaft
Hinged with the main body, the pars contractilis of the cylinder is hinged by third pin shaft and the linking arm, second pin shaft, third
Pin shaft is parallel with first pin shaft, and the pars contractilis is used for flexible to drive the linking arm with institute relative to the interconnecting piece
It states and is rotated relative to the main body centered on the first pin shaft.
The robot, it is preferred that the adsorbent equipment is vacuum chuck, and the drive system further includes vacuum pump,
The suction end of the vacuum pump is connect for providing negative pressure, the outlet side of the vacuum pump to the vacuum chuck with the sucker
It is connect respectively with the rod chamber of the cylinder and rodless cavity by the first valve, first valve is for controlling the vacuum pump
The air pressure exported to the rod chamber and rodless cavity.
The robot, it is preferred that the drive system further includes gas source and check valve, and the gas source and check valve are set
It sets between the outlet side and first valve of the vacuum pump, the gas source is used to export to the rod chamber and rodless cavity
Air pressure, gas flow of the check valve between the gas source and the outlet side of vacuum pump for preventing the gas source from generating
The vacuum pump.
The robot, it is preferred that the drive system further includes muffler, and the muffler is connected to described unidirectional
Between valve and the outlet side of vacuum pump.
The robot, it is preferred that the drive system also IP filter, the filter are connected to the vacuum pump
Outlet side and first valve between, for filtering the gas for flowing to first valve.
The robot, it is preferred that the second valve is connected between the vacuum chuck and the suction end of the vacuum pump
Door, second valve make the vacuum chuck be connected or disconnect with vacuum pump.
Based on above-mentioned, robot provided by the utility model, when in use, working face can be adsorbed on by adsorbent equipment
On, and walked on working face by running gear band mobile robot, meanwhile, it can be to work by the executive device on linking arm
Face is handled.When robot walks on cylinder or in tube body, arm can be drivingly connected by drive system with the first pin shaft
Centered on relative to main body rotate, thus enable executive device to the surface in multiple and different directions of cylinder and tube body at
Reason, thus, it is possible to reduce robot in the walking distance being treated in journey to working face, conducive to the work for improving robot
Efficiency.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of robot provided by the embodiment of the utility model；
Fig. 2 is a kind of top view of robot provided by the embodiment of the utility model；
Fig. 3 is a kind of front view of robot provided by the embodiment of the utility model；
Fig. 4 is a kind of pneumatic system schematic diagram of robot provided by the embodiment of the utility model.
Appended drawing reference:
101: main body；102: adsorbent equipment；103: running gear；
104: linking arm；105: the first pin shafts；106: executive device；
107: drive system；108: first support arm；109: second support arm；
110: cylinder；111: the second pin shafts；112: third pin shaft；
113: vacuum pump；114: the first valves；115: gas source；
116: check valve；117: muffler；118: the second valves；
119: filter.
Specific embodiment
It is practical new below in conjunction with this to keep the purpose of this utility model, feature, advantage more obvious and understandable
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is only the utility model a part of the embodiment, and not all embodiments.Based on the implementation in the utility model
Example, those skilled in the art's every other embodiment obtained without making creative work, belongs to this reality
With novel protected range.
Fig. 1-3 is please referred to, the utility model embodiment provides a kind of robot, comprising: main body 101；Adsorbent equipment 102,
It is arranged in main body 101, for being adsorbed on working face；Running gear 103 is arranged in main body 101, in working face
Walking；Linking arm 104, linking arm 104 is hinged with main body 101 by the first pin shaft 105, and linking arm 104 is equipped with executive device
106, executive device 106 is for handling working face；Drive system 107 is connect, for being drivingly connected with linking arm 104
Arm 104 is rotated centered on the first pin shaft 105 relative to main body 101.
Robot in the present embodiment can be adsorbed on working face, and pass through row when in use by adsorbent equipment 102
Walking apparatus 103 is walked on working face with mobile robot, meanwhile, it can be to working face by the executive device 106 on linking arm 104
It is handled.When robot walks on cylinder or in tube body, arm 104 can be drivingly connected by drive system 107 with first
It is rotated centered on pin shaft 105 relative to main body 101, to enable executive device 106 to multiple and different sides of cylinder and tube body
To surface handled, thus, it is possible to reduce robot in the walking distance being treated in journey to working face, conducive to mentioning
High machine task efficiency.
In the present embodiment, it is preferred that also be provided with executive device 106 in main body 101, pass by it is possible thereby to which robot is made to be expert at
Cheng Zhong, the working face walked for running gear 103 are handled, conducive to machine task efficiency is further increased.
In the present embodiment, it is preferred that linking arm 104 includes first support arm 108 and second support arm 109,108 He of first support arm
Executive device 106 is equipped in second support arm 109, the first end of first support arm 108 is cut with scissors by the first pin shaft 105 with main body 101
Connect, second support arm 109 be arranged in the second end of first support arm 108 and with first support arm 108 formed the first set angle, first
Plane and the first pin shaft 105 where arm 108 and second support arm 109 form the second set angle.Due to first support arm 108 and
Two support arms 109 form the first set angle, and plane and 105 shape of the first pin shaft where first support arm 108 and second support arm 109
At the second set angle, when robot walks on cylinder or in tube body, by linking arm 104 with the first pin shaft 105 it is
Rotation of the heart relative to main body 101 can make first support arm 108 and second support arm 109 to multiple and different sides of cylinder or tube body
To surface formed and surround, can be simultaneously to column by the executive device 106 that is arranged in first support arm 108 and second support arm 109
The surface in multiple and different directions of body or tube body is handled, and is thus conducive to further increase machine task efficiency.
In the present embodiment, it is preferred that the first set angle and the second set angle are 90 degree.Due to the first set angle
It is 90 degree, therefore, when robot walks on square cylinder or in tube body, first support arm 108 and second support arm 109 can be more
The trend on the surface in the good multiple and different directions for adapting to cylinder or tube body is conducive to improve executive device 106 to cylinder or tube body
Multiple and different directions surface treatment effect.Due to the second set angle be 90 degree, when robot needs on cylinder or
In pipeline when walking, robot can be made to be adsorbed on cylinder or in pipeline, and make the first pin shaft 105 along the axial direction of cylinder or pipeline
Setting, so that drive system 107 be enable to be drivingly connected arm 104 in the plane internal rotation perpendicular to cylinder or pipeline axial direction, makes
Linking arm 104 can the more convenient surface to cylinder or pipeline different directions formed and surround, and be conducive to shorten linking arm 104
Length can make Robot cylinder or pipeline axis after surface of the linking arm 104 to cylinder or pipeline different directions forms and surround
To walking, so that the executive device 106 on linking arm 104 be enable to complete the processing on the surface to entire cylinder or pipeline.
In the present embodiment, it is preferred that linking arm 104 is two, and two linking arms 104 are symmetricly set on the two of main body 101
Side.Two linking arms 104 preferably can be formed and be surrounded in the surface in multiple and different directions to cylinder or tube body as a result, thus
Improve the efficiency that executive device 106 handles the surface of cylinder or pipeline.
In the present embodiment, it is preferred that drive system 107 includes cylinder 110, and the interconnecting piece of cylinder 110 passes through the second pin shaft
111 is hinged with main body 101, and the pars contractilis of cylinder 110 is hinged by third pin shaft 112 and linking arm 104, the second pin shaft 111, the
Three pin shafts 112 are parallel with the first pin shaft 105, and pars contractilis is used for flexible to be drivingly connected arm 104 with the first pin relative to interconnecting piece
It is rotated centered on axis 105 relative to main body 101.As a result, by the flexible of 110 pars contractilis of cylinder, the connection of cylinder 110 can be made
Portion is rotated centered on the second pin shaft 111 relative to main body 101, and makes pars contractilis and linking arm 104 in third pin shaft 112
Heart relative rotation, so that linking arm 104 be driven to rotate centered on the first pin shaft 105 relative to main body 101.Pass through cylinder 110
It is drivingly connected arm 104 to rotate, conducive to making, 107 structure of drive system is simple, driving is reliable.
Referring to FIG. 4, in the present embodiment, it is preferred that adsorbent equipment 102 is vacuum chuck, and drive system 107 further includes true
Sky pump 113, the suction end of vacuum pump 113 are connect for providing negative pressure to vacuum chuck with sucker, and the outlet side of vacuum pump 113 is logical
The first valve 114 is crossed to connect with the rod chamber of cylinder 110 and rodless cavity respectively, the first valve 114 for control vacuum pump 113 to
The air pressure of rod chamber and rodless cavity output.Negative pressure can be provided to vacuum chuck by vacuum pump 113 and mention simultaneously to cylinder 110
The structure of drive system 107 is thereby simplified, robot is reduced there is no need to which other driving devices are arranged again for positive pressure
Cost.
In the present embodiment, it is preferred that drive system 107 further includes gas source 115 and check valve 116, gas source 115 and check valve
116 are arranged between the outlet side of vacuum pump 113 and the first valve 114, and gas source 115 is used to export gas to rod chamber and rodless cavity
Pressure, gas flow of the check valve 116 between gas source 115 and the outlet side of vacuum pump 113 for preventing gas source 115 from generating are true
Sky pump 113.Positive pressure is provided to cylinder 110 by gas source 115 and vacuum pump 113 as a result, conducive to the power for guaranteeing cylinder 110.Separately
Outside, the positive pressure generated since vacuum pump 113 is utilized, conducive to the power for reducing gas source 115.
In the present embodiment, it is preferred that drive system 107 further includes muffler 117, and muffler 117 is connected to check valve 116
Between the outlet side of vacuum pump 113.Noise caused by drive system 107 is reduced as a result, improves the use of robot
Effect.
In the present embodiment, it is preferred that drive system also IP filter 119, filter 119 are connected to going out for vacuum pump 113
Between gas end and the first valve 114, for filtering the gas for flowing to the first valve 114.Thereby, it is possible to it is effective prevent dust or
Foreign matter, which enters, influences running in the first valve 114 or cylinder 110, which thereby enhance the reliability that robot uses.
In the present embodiment, it is preferred that the second valve 118 is connected between vacuum chuck and the suction end of vacuum pump 113, the
Two valves 118 make vacuum chuck be connected or disconnect with vacuum pump 113.Vacuum suction can be controlled by the second valve 118 as a result,
The suction of disk improves the convenience that robot uses.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the utility model.Moreover, description specific features, structure, material or
Feature may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, in not conflicting situation
Under, those skilled in the art can be by different embodiments or examples described in this specification and different embodiments or examples
Feature be combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.The meaning of " plurality " is two or more in the description of the present invention, unless
Separately there is clearly specific restriction.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to
In this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in variation
Or replacement, it should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should be with the power
Subject to the protection scope that benefit requires.
Claims (10)
1. a kind of robot characterized by comprising
Main body；
Adsorbent equipment is arranged on the body, for being adsorbed on working face；
Running gear is arranged on the body, for walking on the working face；
Linking arm, the linking arm is hinged by the first pin shaft and the main body, and the linking arm is equipped with executive device, described
Executive device is for handling the working face；
Drive system is connect with the linking arm, for driving the linking arm centered on first pin shaft relative to institute
State main body rotation.
2. robot according to claim 1, which is characterized in that the linking arm includes first support arm and second support arm,
The executive device is equipped in the first support arm and second support arm, the first end of the first support arm is sold by described first
Axis and the main body are hinged, and the second support arm is arranged in the second end of the first support arm and forms the with the first support arm
One set angle, plane and first pin shaft where the first support arm and second support arm form the second set angle.
3. robot according to claim 2, which is characterized in that first set angle and second set angle
It is 90 degree.
4. robot according to claim 1, which is characterized in that the linking arm is two, two linking arms pair
Claim the two sides that the main body is set.
5. robot according to any one of claims 1-4, which is characterized in that the drive system includes cylinder, described
The interconnecting piece of cylinder is hinged by the second pin shaft and the main body, and the pars contractilis of the cylinder passes through third pin shaft and the connection
Arm is hinged, and second pin shaft, third pin shaft are parallel with first pin shaft, and the pars contractilis is used for relative to the interconnecting piece
It stretches to drive the linking arm to rotate centered on first pin shaft relative to the main body.
6. robot according to claim 5, which is characterized in that the adsorbent equipment is vacuum chuck, the driving system
System further includes vacuum pump, and the suction end of the vacuum pump is connect for providing negative pressure, institute to the vacuum chuck with the sucker
The outlet side for stating vacuum pump is connect with the rod chamber of the cylinder and rodless cavity respectively by the first valve, and first valve is used
In the air pressure that the control vacuum pump is exported to the rod chamber and rodless cavity.
7. robot according to claim 6, which is characterized in that the drive system further includes gas source and check valve, institute
It states gas source and check valve is arranged between the outlet side of the vacuum pump and first valve, the gas source to described for having
Rod cavity and rodless cavity output pressure, the check valve is between the gas source and the outlet side of vacuum pump for preventing the gas
Vacuum pump described in the gas flow that source generates.
8. robot according to claim 7, which is characterized in that the drive system further includes muffler, the noise reduction
Device is connected between the check valve and the outlet side of vacuum pump.
9. robot according to claim 6, which is characterized in that the drive system also IP filter, the filter
It is connected between the outlet side of the vacuum pump and first valve, for filtering the gas for flowing to first valve.
10. robot according to claim 6, which is characterized in that the suction end of the vacuum chuck and the vacuum pump
Between be connected with the second valve, second valve makes the vacuum chuck be connected or disconnect with vacuum pump.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821874678.2U CN208992720U (en) | 2018-11-14 | 2018-11-14 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821874678.2U CN208992720U (en) | 2018-11-14 | 2018-11-14 | Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208992720U true CN208992720U (en) | 2019-06-18 |
Family
ID=66806648
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821874678.2U Active CN208992720U (en) | 2018-11-14 | 2018-11-14 | Robot |
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| Country | Link |
|---|---|
| CN (1) | CN208992720U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333553A (en) * | 2018-11-14 | 2019-02-15 | 北京史河科技有限公司 | Robot |
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2018
- 2018-11-14 CN CN201821874678.2U patent/CN208992720U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333553A (en) * | 2018-11-14 | 2019-02-15 | 北京史河科技有限公司 | Robot |
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