Climbing arm of climbing robot and use method of climbing arm

Abstract

The invention discloses a climbing robot climbing arm and a using method thereof.The climbing robot climbing arm comprises a climbing robot mechanism and a convenient assembling mechanism, the convenient assembling mechanism is fixedly connected to the top of the climbing robot mechanism and comprises a connecting plate, and the top of the connecting plate is movably connected with a rotating rod through a bearing; the surface of the rotating rod is sleeved with a disc, the front side and the rear side of the top of the disc are movably connected with connecting rods through sliding pins, the sides, away from the disc, of the connecting rods are movably connected with pin shafts through rotating shafts, the outer sides of the pin shafts are fixedly connected with battens, and the bottoms of the battens are slidably connected with the connecting plates. According to the climbing arm of the climbing robot, the traditional mode that a base plate and a machine body are connected through multiple bolts is changed, the clamping plates are directly clamped in the climbing arm assembly, single pieces do not need to be connected in sequence, the overall consumed time is not long, and the assembling convenience is not affected.

Description

Technical Field

[0001] The present invention relates to the technical field of climbing robots, and in particular to a climbing robot climbing arm and a use method thereof. Background Art

[0002] According to the patents published on the China Patent Network, the patent name is: An energy storage mechanical arm for an obstacle climbing robot and an obstacle climbing robot, and the patent application number is: 202110431413.5. The present invention discloses an energy storage mechanical arm for an obstacle climbing robot, including a rotating arm structure and an energy storage structure; discloses an obstacle climbing robot, including an energy storage mechanical arm, and also includes a vacuum adsorption motion device; the present invention has a clever structure and low cost. Through the design of the energy storage module and the mechanical arm, the deficiency of a single high-power motor that is too heavy to climb obstacles can be eliminated, so that the power of the entire mechanical arm is reduced, thereby reducing its own weight, and it can effectively store energy while running smoothly, and further The energy can be released smoothly so that the robot can climb walls and overcome obstacles. The obstacle climbing robot of the present invention is provided with a vacuum adsorption motion device, and the vacuum adsorption motion device is placed in the vacuum chamber through an external vacuum chamber, so that the whole mechanism is more compact and the adsorption is more stable. The setting of the spring assembly enables the moving assembly of the climbing robot to better fit the wall surface and has a certain adaptability to different wall surfaces. The climbing arm of the climbing robot mentioned above needs to connect the chassis and the body through multiple bolts during assembly. If multiple bolts are used, not only the assembly time is prolonged, but it is also very troublesome and needs to be connected one by one. The overall time consumption is long, which affects the convenience of assembly.

[0003] Therefore, it is necessary to design and modify the climbing arm of the climbing robot to effectively prevent the phenomenon of slow assembly efficiency of its arm body. Summary of the invention

[0004] In order to solve the problems raised in the above background technology, the purpose of the present invention is to provide a climbing robot climbing arm and a method of using the same, which has the advantage of being able to quickly assemble the arm body and solves the problem of slow arm body assembly efficiency.

[0005] To achieve the above object, the present invention provides the following technical solution: a climbing robot climbing arm and a method of using the same, comprising:

[0006] Climbing robot mechanism;

[0007] A convenient assembly mechanism, which is fixedly connected to the top of the climbing robot mechanism, and the convenient assembly mechanism includes a connecting plate, the top of the connecting plate is movably connected to a rotating rod through a bearing, the surface of the rotating rod is sleeved with a disc, the front and rear sides of the top of the disc are movably connected to the connecting rod through a sliding pin, the side of the connecting rod away from the disc is movably connected to a pin shaft through a rotating shaft, the outer side of the pin shaft is fixedly connected to a strip board, the bottom of the strip board is slidably connected to the connecting plate, the front and back sides of the strip board are fixedly connected to a convex rod, the outer side of the bottom of the convex rod is fixedly connected to a vertical rod, the inner side of the vertical rod is fixedly connected to a clamping plate, and the inner side of the clamping plate penetrates into the interior of the climbing robot mechanism.

[0008] As a preferred embodiment of the present invention, the climbing robot mechanism includes a main body component, the front and back sides of the main body component are provided with climbing arm components, and the four corners of the bottom of the main body component are provided with negative pressure suction cups.

[0009] As a preferred embodiment of the present invention, both sides of the top of the convenient assembly mechanism are fixedly connected with a locking mechanism, and the locking mechanism includes two fixed plates, the inner side of the fixed plate is fixedly connected with a rectangular block, the outer side of the inner cavity of the rectangular block is longitudinally slidably connected with a slide plate, the outer side of the slide plate is fixedly connected with a return spring, the outer side of the return spring is fixedly connected to the rectangular block, the inner side of the slide plate is fixedly connected with a convex ball 1, the inner side of the convex ball 1 is provided with a convex ball 2, the inner side of the convex ball 2 is fixedly connected with a movable bent plate, and the side of the movable bent plate away from the convex ball 2 is fixedly connected to the rotating rod.

[0010] As a preferred embodiment of the present invention, a slide groove is provided at the bottom of the inner cavity of the rectangular block, and the bottom of the slide plate is slidably connected to the inside of the slide groove.

[0011] As a preferred embodiment of the present invention, an outer side of the rectangular block is fixedly connected with an angle plate, and the outer side of the angle plate is fixedly connected to a fixing plate.

[0012] As a preferred embodiment of the present invention, a connecting plate is fixedly connected to the top of the rotating rod, and a grip rod is fixedly connected to the rear side of the top of the connecting plate.

[0013] As a preferred embodiment of the present invention, the front side and the rear side of the outer side of the strip plate are fixedly connected with a buffer spring, the outer side of the buffer spring is fixedly connected with a positioning plate, and the bottom of the positioning plate is fixedly connected to the connecting plate.

[0014] As a preferred method of use of the present invention, the following steps are included:

[0015] S1: First, the user places the climbing arm assembly on the front and back of the main assembly, and then rotates the grip bar, which drives the connecting plate to rotate, which drives the rotating rod to rotate, which drives the disc to rotate, which drives one end of the connecting rod to rotate, and the other end of the connecting rod drives the pin to move inward, which drives the strip to move inward, which drives the convex rod and the vertical rod to move inward, which drives the card to move inward, so that the card passes through the interior of the climbing arm assembly, so that the arm body can be quickly assembled;

[0016] S2: Then, when the rotating rod rotates, the movable bent plate will also rotate accordingly, and the movable bent plate drives the convex ball 2 to rotate, so that the convex ball 2 squeezes the convex ball 1 outward, and the convex ball 1 will squeeze the convex ball 2 to one side through the rebound force of the return spring. Then, without the obstruction of the convex ball 2, the convex ball 1 will cooperate with the return spring to return to its position, and limit the convex ball 2, so as to achieve the effect of quickly locking the rotating rod.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The climbing arm of the climbing robot of the present invention changes the traditional method of connecting the chassis and the body with multiple bolts, and adopts a clamping plate that is directly clamped inside the climbing arm assembly, so there is no need to connect each one in sequence, the overall consumption time will not be long, and the convenience of assembly will not be affected.

[0019] 2. Through the setting of the climbing robot mechanism, the present invention can independently complete tasks such as climbing, detection, and maintenance without direct human participation, thereby greatly improving work efficiency, and can also achieve accurate positioning and operation of target objects, reducing human errors and improving work quality.

[0020] 3. The present invention can make the climbing arm assembly more convenient to install by setting up a convenient assembly mechanism, avoiding the phenomenon of consuming a long time and increasing the overall progress.

[0021] 4. The present invention can make the slide plate slide more smoothly inside the rectangular block through the setting of the slide groove, thereby reducing the friction between the slide plate and the rectangular block, extending the service life of the slide plate, and at the same time having a limiting effect on the slide plate.

[0022] 5. The present invention can make the rectangular block more firmly connected to the fixed plate by setting the angle plate, thereby preventing separation.

[0023] 6. The present invention can facilitate users to rotate the rotating rod through the arrangement of the connecting plate and the gripping rod, thereby increasing the convenience of the users.

[0024] 7. The present invention can make the strip plate move more stably and buffer its moving speed by setting the buffer spring and the positioning plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the structure of the present invention;

[0026] Figure 2 is a structural diagram of the climbing robot mechanism of the present invention;

[0027] Figure 3 It is a structural diagram of the convenient assembly mechanism of the present invention;

[0028] Figure 4 The structure of the present invention Figure 3 The structure diagram at A is enlarged;

[0029] Figure 5 is a structural diagram of the locking mechanism of the present invention;

[0030] Figure 6 It is an exploded view of the local structure of the present invention.

[0031] In the figure: 1. Climbing robot mechanism; 11. Main body assembly; 12. Climbing arm assembly; 13. Negative pressure suction cup; 2. Convenient assembly mechanism; 21. Connecting plate; 22. Rotating rod; 23. Disc; 24. Connecting rod; 25. Pin; 26. Strip; 27. Protruding rod; 28. Vertical rod; 29. ​​Card; 3. Locking mechanism; 31. Fixed plate; 32. Rectangular block; 33. Slide plate; 34. Return spring; 35. Protruding ball 1; 36. Protruding ball 2; 37. Moving bent plate; 4. Slide groove; 5. Angle plate; 6. Connecting plate; 7. Grip; 8. Buffer spring; 9. Positioning plate. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] like Figures 1 to 6 As shown, the present invention provides a climbing robot climbing arm and a method of using the same, comprising:

[0034] Climbing robot mechanism 1;

[0035] A convenient assembly mechanism 2, which is fixedly connected to the top of the climbing robot mechanism 1. The convenient assembly mechanism 2 includes a connecting plate 21, and the top of the connecting plate 21 is movably connected to a rotating rod 22 through a bearing. A disc 23 is sleeved on the surface of the rotating rod 22. The front and rear sides of the top of the disc 23 are movably connected to a connecting rod 24 through a sliding pin. The side of the connecting rod 24 away from the disc 23 is movably connected to a pin 25 through a rotating shaft. The outer side of the pin 25 is fixedly connected to a strip 26, and the bottom of the strip 26 is slidably connected to the connecting plate 21. The front and back sides of the strip 26 are fixedly connected to a convex rod 27, and the outer side of the bottom of the convex rod 27 is fixedly connected to a vertical rod 28, and the inner side of the vertical rod 28 is fixedly connected to a clamping plate 29, and the inner side of the clamping plate 29 passes through the interior of the climbing robot mechanism 1.

[0036] refer to Figure 2 The climbing robot mechanism 1 includes a main body component 11, a climbing arm component 12 is disposed on the front and back of the main body component 11, and negative pressure suction cups 13 are disposed at the four corners of the bottom of the main body component 11.

[0037] As a technical optimization solution of the present invention, through the setting of the climbing robot mechanism 1, it can independently complete tasks such as climbing, detection, and maintenance without direct human participation, thereby greatly improving work efficiency, and can also achieve accurate positioning and operation of target objects, reduce human errors, and improve work quality.

[0038] refer to Figure 5 , both sides of the top of the convenient assembly mechanism 2 are fixedly connected with a locking mechanism 3, the locking mechanism 3 includes two fixed plates 31, a rectangular block 32 is fixedly connected to the inner side of the fixed plate 31, a slide plate 33 is longitudinally slidably connected to the outer side of the inner cavity of the rectangular block 32, a return spring 34 is fixedly connected to the outer side of the slide plate 33, the outer side of the return spring 34 is fixedly connected to the rectangular block 32, a convex ball 1 35 is fixedly connected to the inner side of the slide plate 33, a convex ball 2 36 is arranged on the inner side of the convex ball 1 35, a movable bent plate 37 is fixedly connected to the inner side of the convex ball 2 36, and the side of the movable bent plate 37 away from the convex ball 2 36 is fixedly connected to the rotating rod 22.

[0039] As a technical optimization solution of the present invention, by providing the convenient assembly mechanism 2, the climbing arm assembly 12 can be installed more conveniently, thus avoiding the phenomenon of consuming a long time and increasing the overall progress.

[0040] refer to Figure 5 A slide groove 4 is provided at the bottom of the inner cavity of the rectangular block 32 , and the bottom of the slide plate 33 is slidably connected inside the slide groove 4 .

[0041] As a technical optimization solution of the present invention, the slide groove 4 is provided to enable the slide plate 33 to slide more smoothly inside the rectangular block 32, thereby reducing the friction between the slide plate 33 and the rectangular block 32, extending the service life of the slide plate 33, and at the same time having a limiting effect on the slide plate 33.

[0042] refer to Figure 5 The outer side of the rectangular block 32 is fixedly connected with an angle plate 5 , and the outer side of the angle plate 5 is fixedly connected with the fixed plate 31 .

[0043] As a technical optimization solution of the present invention, by providing the angle plate 5, the rectangular block 32 can be more firmly connected to the fixing plate 31 to prevent separation.

[0044] refer to Figure 4 and Figure 6 The top of the rotating rod 22 is fixedly connected with a connecting plate 6, and the rear side of the top of the connecting plate 6 is fixedly connected with a gripping rod 7.

[0045] As a technical optimization solution of the present invention, the arrangement of the connecting plate 6 and the gripping rod 7 can facilitate the user to rotate the rotating rod 22, thereby increasing the convenience of the user.

[0046] refer to Figure 3 and Figure 4 The front and rear sides of the outer side of the strip plate 26 are fixedly connected with a buffer spring 8 , the outer side of the buffer spring 8 is fixedly connected with a positioning plate 9 , and the bottom of the positioning plate 9 is fixedly connected to the connecting plate 21 .

[0047] As a technical optimization solution of the present invention, by providing the buffer spring 8 and the positioning plate 9, the strip plate 26 can move more stably and at the same time have a buffering effect on its moving speed.

[0048] S1: First, the user places the climbing arm assembly 12 on the front and back of the main body assembly 11, and then rotates the grip 7, the grip 7 drives the connecting plate 6 to rotate, the connecting plate 6 drives the rotating rod 22 to rotate, the rotating rod 22 drives the disc 23 to rotate, the disc 23 drives one end of the connecting rod 24 to rotate, the other end of the connecting rod 24 drives the pin 25 to move inward, the pin 25 drives the strip 26 to move inward, the strip 26 drives the protruding rod 27 and the vertical rod 28 to move inward, the vertical rod 28 drives the card plate 29 to move inward, so that the card plate 29 penetrates into the interior of the climbing arm assembly 12, so that the arm body can be quickly assembled;

[0049] S2: Then, when the rotating rod 22 rotates, the movable bent plate 37 will also rotate accordingly, and the movable bent plate 37 drives the convex ball 2 36 to rotate, so that the convex ball 2 36 squeezes the convex ball 1 35 outward, and the convex ball 1 35 squeezes the convex ball 2 36 to one side through the rebound force of the return spring 34. Then, without the obstruction of the convex ball 2 36, the convex ball 1 35 will cooperate with the return spring 34 to return to its original position, and limit the convex ball 2 36, so as to achieve the effect of quickly locking the rotating rod 22.

[0050] The working principle and use process of the present invention are as follows: first, the user places the climbing arm assembly 12 on the front and back of the main assembly 11, and then rotates the grip 7, the grip 7 drives the connecting plate 6 to rotate, the connecting plate 6 drives the rotating rod 22 to rotate, the rotating rod 22 drives the disc 23 to rotate, the disc 23 drives one end of the connecting rod 24 to rotate, the other end of the connecting rod 24 drives the pin 25 to move inward, the pin 25 drives the strip 26 to move inward, the strip 26 drives the protruding rod 27 and the vertical rod 28 to move inward, and the vertical rod 28 drives the card plate 29 to move inward , so that the card plate 29 passes through the interior of the climbing arm assembly 12, so that the arm body can be quickly assembled. Then, when the rotating rod 22 rotates, the movable bent plate 37 will also rotate accordingly. The movable bent plate 37 drives the convex ball 2 36 to rotate, so that the convex ball 2 36 squeezes the convex ball 1 35 outward, and the convex ball 1 35 will squeeze the convex ball 2 36 to one side through the rebound force of the return spring 34. Then, without the obstruction of the convex ball 2 36, the convex ball 1 35 will cooperate with the return spring 34 to return to its original position, limiting the convex ball 2 36, so as to achieve the effect of quickly locking the rotating rod 22.

[0051] To sum up: the climbing robot climbing arm and the method of using the same have changed the traditional method of connecting the chassis and the body with multiple bolts through the climbing robot climbing arm, and adopted a clamping plate 29 that is directly clamped in the interior of the climbing arm assembly 12, so there is no need to connect each one in sequence, the overall consumption time will not be long, and the convenience of assembly will not be affected.

[0052] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0053] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A climbing robot climbing arm, characterized in that: include: Climbing robot mechanism (1); A convenient assembly mechanism (2), the convenient assembly mechanism (2) is fixedly connected to the top of the climbing robot mechanism (1), the convenient assembly mechanism (2) comprises a connecting plate (21), the top of the connecting plate (21) is movably connected to a rotating rod (22) via a bearing, a disc (23) is sleeved on the surface of the rotating rod (22), the front side and the rear side of the top of the disc (23) are movably connected to a connecting rod (24) via a sliding pin, and the side of the connecting rod (24) away from the disc (23) is connected to the connecting rod (24) via a sliding pin. A pin shaft (25) is movably connected to the rotating shaft, a strip plate (26) is fixedly connected to the outer side of the pin shaft (25), the bottom of the strip plate (26) is slidably connected to the connecting plate (21), the front and back sides of the strip plate (26) are fixedly connected to convex rods (27), the outer side of the bottom of the convex rod (27) is fixedly connected to a vertical rod (28), the inner side of the vertical rod (28) is fixedly connected to a clamping plate (29), and the inner side of the clamping plate (29) penetrates into the interior of the climbing robot mechanism (1).

2. A climbing robot climbing arm according to claim 1, characterized in that: The climbing robot mechanism (1) comprises a main body component (11), the front and back sides of the main body component (11) are provided with climbing arm components (12), and the four corners of the bottom of the main body component (11) are provided with negative pressure suction cups (13).

3. The climbing robot climbing arm according to claim 1, characterized in that: Both sides of the top of the convenient assembly mechanism (2) are fixedly connected with a locking mechanism (3), and the locking mechanism (3) comprises two fixed plates (31), the inner side of the fixed plate (31) is fixedly connected with a rectangular block (32), the outer side of the inner cavity of the rectangular block (32) is longitudinally slidably connected with a slide plate (33), the outer side of the slide plate (33) is fixedly connected with a return spring (34), the outer side of the return spring (34) is fixedly connected to the rectangular block (32), the inner side of the slide plate (33) is fixedly connected with a convex ball (35), the inner side of the convex ball (35) is provided with a convex ball (36), the inner side of the convex ball (36) is fixedly connected with a movable bent plate (37), and the side of the movable bent plate (37) away from the convex ball (36) is fixedly connected to the rotating rod (22).

4. The climbing robot climbing arm according to claim 3, characterized in that: A sliding groove (4) is provided at the bottom of the inner cavity of the rectangular block (32), and the bottom of the sliding plate (33) is slidably connected inside the sliding groove (4).

5. The climbing robot climbing arm according to claim 3, characterized in that: The outer side of the rectangular block (32) is fixedly connected to a corner plate (5), and the outer side of the corner plate (5) is fixedly connected to a fixed plate (31).

6. The climbing robot climbing arm according to claim 1, characterized in that: The top of the rotating rod (22) is fixedly connected to a connecting plate (6), and the rear side of the top of the connecting plate (6) is fixedly connected to a gripping rod (7).

7. The climbing robot climbing arm according to claim 1, characterized in that: The front and rear sides of the outer side of the strip plate (26) are fixedly connected with a buffer spring (8), the outer side of the buffer spring (8) is fixedly connected with a positioning plate (9), and the bottom of the positioning plate (9) is fixedly connected to the connecting plate (21).

8. A method for using a climbing robot climbing arm according to any one of the above claims, characterized in that: The following steps are involved: S1: First, the user places the climbing arm assembly (12) on the front and back of the main body assembly (11), and then rotates the grip (7), the grip (7) drives the connecting plate (6) to rotate, the connecting plate (6) drives the rotating rod (22) to rotate, the rotating rod (22) drives the circular plate (23) to rotate, the circular plate (23) drives one end of the connecting rod (24) to rotate, the other end of the connecting rod (24) drives the pin shaft (25) to move inward, the pin shaft (25) drives the strip plate (26) to move inward, the strip plate (26) drives the protruding rod (27) and the vertical rod (28) to move inward, the vertical rod (28) drives the card plate (29) to move inward, so that the card plate (29) penetrates into the interior of the climbing arm assembly (12), so that the arm body can be quickly assembled; S2: Then, as the rotating rod (22) rotates, the movable curved plate (37) also rotates, and the movable curved plate (37) drives the second convex ball (36) to rotate, so that the second convex ball (36) presses the first convex ball (35) outward, and the first convex ball (35) presses the second convex ball (36) to one side through the rebound force of the return spring (34). Then, the first convex ball (35) will return to its original position in cooperation with the return spring (34) without the obstruction of the second convex ball (36). The second convex ball (36) is limited in position, so that the rotating rod (22) can be quickly locked.

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