A motion joint and an adsorption assembly

Abstract

The application provides a motion joint and adsorption assembly, which comprises a base, a rotating part and a reset mechanism, the rotating part is connected with the base, the rotating part and the base are respectively used for connecting external devices, and the rotating part and the base can rotate relative to each other after being subjected to external force, the reset mechanism is installed on the base, and the reset mechanism cooperates with the rotating part, after the external force acting on the rotating part or the base is eliminated, the reset mechanism makes the rotating part return to the initial position relative to the base; the motion joint and adsorption assembly have the advantages of reasonable structure, convenient use and good self-adaptability.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a motion joint and an adsorption component. Background Art

[0002] A wall-climbing robot is an electromechanical device that can walk on a vertical surface or a steep slope. Rust removal equipment is a mechanical device used to clean the oxide layer on the metal surface so that the metal surface can be further processed in other processes after the rust removal is completed (for example, painting the metal surface after rust removal). After combining it with a wall-climbing robot, we can call it a rust removal robot to perform rust removal operations on the side walls of ships. In order to realize the robot's wall-climbing function, it is usually necessary to install suction cups on the robot to form the robot's feet or walking feet. That is, by evacuating the suction cups to form negative pressure, the suction cups can be adsorbed on the surface of the workpiece (facade), thereby achieving the purpose of the robot walking and working on the facade or side wall of the workpiece.

[0003] However, the wall-climbing robots in the prior art have certain inconveniences or relatively poor adaptability when walking on the vertical surface. Specifically, when the robot walks or works on the vertical surface of the workpiece, it mainly uses a vacuum suction cup to achieve the purpose of the robot adsorbing on the vertical surface. However, the surface of the workpiece often has changes in height or tilt angle (for example, the surface skin (steel plate) of a ship is often not very flat due to a combination of factors such as thermal expansion and contraction and the shrinkage of the weld seam; for example, the vertical surface has a certain curvature). The suction cup, which serves as the robot's walking foot, also needs to adapt to the changes in the workpiece surface. In the prior art, the suction cup is often rigidly connected to the robot body, or a motor is set between the robot body and the suction cup to achieve the change of the suction cup's rotation angle relative to the robot body. When the suction cup is rigidly connected to the robot body, during the robot's walking or operation, if the flatness of the workpiece surface does not meet the requirements or the vertical surface has a curvature, the suction cup cannot be well adsorbed or attracted to the surface of the workpiece; that is, on the one hand, it will cause uneven force on the suction cup, and on the other hand, due to the rigid connection of the suction cup, a gap will easily be generated between the suction cup and the workpiece, resulting in insufficient suction force of the suction cup relative to the workpiece, making it easy for the robot to fall off the vertical surface of the workpiece.

[0004] Furthermore, when the suction cup is connected to the robot body through a motor (that is, the motor is used as a motion joint), the weight of the motor is relatively high, and a walking robot often has multiple suction cups, which will increase the weight of the robot as a whole; secondly, the suction cup serving as a walking foot will be able to extend and retract relative to the robot body through a telescopic device (that is, the coordination between multiple walking feet enables the robot to walk), which brings certain difficulties to the arrangement of the motor cables; and thus the use of the wall-climbing robot will cause the problems of inconvenience and relatively poor adaptability as mentioned above. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a motion joint and adsorption component with a reasonable structure, easy use and good adaptability.

[0006] In order to solve the above technical problems, the technical solution used in the present invention is:

[0007] A motion joint includes a base, a rotating part and a reset mechanism, wherein the rotating part is connected to the base, the rotating part and the base are respectively used to connect to external equipment, and the rotating part and the base can rotate relative to each other after being subjected to external force, the reset mechanism is installed on the base, and the reset mechanism and the rotating part cooperate with each other, after the external force acting on the rotating part or the base is eliminated, the reset mechanism causes the rotating part to return to its initial position relative to the base.

[0008] As a further improvement to the motion joint, the reset mechanism includes a first rack, a first gear, a first elastic member and a second elastic member, the first gear is fixedly connected to the rotating part, the first rack is slidably connected to the base, and the first rack is meshed with the first gear, one end of the first elastic member and the second elastic member are respectively abutted at the two ends of the first rack, and the other end of the first elastic member and the second elastic member are abutted against the base.

[0009] As a further improvement to the motion joint, a first chamber and a second chamber are further provided in the base, the first chamber is communicated with the second chamber, the first rack is installed in the first chamber and can slide along the axial direction of the first chamber, and the first gear is installed in the second chamber.

[0010] As a further improvement to the motion joint, adjustment members are provided at both ends of the first chamber, respectively. The adjustment members are movably connected to the base and can move along the length direction of the first chamber.

[0011] One end of the first elastic member and the second elastic member respectively abuts at two ends of the first rack, and the other end of the first elastic member and the second elastic member respectively abuts with the adjusting member.

[0012] As a further improvement to the movement joint, the first rack is further provided with a gas pressure balance hole, which penetrates the first rack in the axial direction of the first rack.

[0013] As a further improvement to the movement joint, the base is further provided with a locking member, which is movably connected with the base, and the locking member is used to fix the position of the adjusting member relative to the base.

[0014] An adsorption assembly, comprising a suction cup and a movement joint as described above, the base of the movement joint is fixedly connected with the suction cup, and the rotating part of the movement joint is used to connect external equipment.

[0015] As a further improvement to the adsorption assembly, further comprising a lifting mechanism, which is fixedly connected with the rotating part of the movement joint, and the movement joint enables the suction cup to rotate relative to the lifting mechanism.

[0016] As a further improvement to the adsorption assembly, the lifting mechanism comprises a guide rail, a sliding seat and a driving mechanism, the guide rail is fixedly connected with the movement joint, the sliding seat is slidingly connected with the guide rail, the driving mechanism is fixedly connected with the sliding seat, the driving mechanism is drivingly connected with the guide rail, and the driving mechanism is used to drive the sliding seat to move relative to the guide rail.

[0017] The driving mechanism comprises a motor, a second gear and a second rack, the second rack is fixedly connected with the guide rail, the second gear is fixedly connected with the driving shaft of the motor, the motor is fixedly connected with the sliding seat, and the second gear is engaged with the rack.

[0018] As a further improvement to the adsorption assembly, the lifting mechanism further comprises a reinforcing rod, which is fixedly connected with the guide rail.

[0019] Compared with the prior art, the beneficial effects of the present invention are mainly reflected in: by arranging a motion joint on the suction cup, the suction cup serving as the walking foot of the robot can adaptively fit on the walking surface of the workpiece. For example, when the walking surface is an arc surface, the suction cup can be deflected relative to the robot with the motion joint as the rotation point, so that the suction cup can better fit on the walking surface, thereby reducing the imbalance of the force on the suction cup, and at the same time making it difficult for a gap to be generated between the suction cup and the workpiece, thereby ensuring the suction force of the suction cup relative to the walking surface, that is, the robot is not easy to fall off the walking surface; further, a reset mechanism is set in the motion joint, and when the robot is walking After the external force acting on the suction cup during the process is eliminated, the motion joint can drive the suction cup to reset (for example, keep the suction cup vertical relative to the axis of the lifting device), so that the suction cup can better adapt to the walking surface when the robot lands next time (the suction cup is adsorbed on a different position of the workpiece); secondly, due to the reaction force of the (elastic part) in the reset mechanism, the stability of the robot's walking on the walking surface can be guaranteed, that is, after the suction cup is adsorbed on the workpiece, the robot body is not easy to deflect or shake with the motion joint as the rotation point; thereby improving the convenience of using the walking robot and its adaptability to the walking surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of the preferred embodiments of the present invention shown in the accompanying drawings. The same reference numerals indicate the same parts throughout the accompanying drawings, and the drawings are not drawn to scale with actual size. The emphasis is on illustrating the subject matter of the present invention.

[0021] Figure 1 Schematic diagram of the overall structure of a motion joint in the present invention;

[0022] Figure 2 It is a schematic cross-sectional view of a motion joint in the present invention;

[0023] Figure 3 Schematic diagram of the cross-sectional structure of the base in the present invention;

[0024] Figure 4 It is a schematic diagram of the structural decomposition of the motion joint in the present invention;

[0025] Figure 5 It is a structural schematic diagram of the adsorption component in the present invention. DETAILED DESCRIPTION

[0026] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it. However, the embodiments given do not limit the present invention. In this embodiment, it should be understood that the directions or positional relationships indicated by terms such as "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", and "outside" are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of the present invention.

[0027] It should be noted that when an element is considered to be "connected" to another element, it may be directly connected to the other element and integrated therewith, or there may be an intermediate element. The terms "mounted," "one end," "the other end," and similar expressions used in this invention are for illustrative purposes only.

[0028] like Figures 1-4 As shown, this embodiment provides a motion joint 1, which includes a base 2, a rotating part 3 and a reset mechanism. The rotating part 3 and the base 2 can form a rotational connection through a bearing 4. The rotating part 3 and the base 2 are respectively used to connect to external devices. For example, in this embodiment, the base 2 is used to connect to the suction cup 14, and the rotating part 3 is used to connect to the lifting device; of course, the base 2 can also be connected to the lifting device, and the rotating part 3 is used to connect to the suction cup 14. Furthermore, when the motion joint 1 is subjected to external force, the rotating part 3 and the base 2 can rotate relative to each other, that is, the base 2 rotates relative to the rotating part 3, or the rotating part 3 rotates relative to the base 2. The reset mechanism is installed on the base 2, and the reset mechanism and the rotating part 3 cooperate with each other. When the external force acting on the rotating part 3 or the base 2 is eliminated, the reset mechanism restores the rotating part 3 to its initial position relative to the base 2.

[0029] like Figure 2 、 Figure 4As shown, in a preferred embodiment, the reset mechanism includes a first rack 5, a first gear 6, a first elastic member 7 and a second elastic member 8. The first gear 6 is sleeved on the outside of the rotating part 3, and the first gear 6 and the rotating part 3 are fixed by a pin key. The first rack 5 is slidably connected to the base 2, and the first rack 5 is meshed with the first gear 6. The first end of the first elastic member 7 is abutted against the first end of the first rack 5, and the first end of the second elastic member 8 is abutted against the second end of the first rack 5, and the second ends of the first elastic 7 and the second elastic member 5 are respectively abutted against the base 2. Specifically, by providing a motion joint 1 on the suction cup 14, the suction cup 14 serving as the walking foot of the robot can adaptively fit on the walking surface of the workpiece. For example, when the walking surface is an arc surface, the suction cup 14 can deflect at a certain angle relative to the robot body with the motion joint 1 as the rotation point, so that the suction cup 14 can better fit on the walking surface, reducing the imbalance of the force on the suction cup 14, and also making it difficult for a gap to be generated between the suction cup 14 and the workpiece, thereby helping the suction cup 14 to maintain effective suction (negative pressure) relative to the walking surface, that is, the robot is not likely to fall off the walking surface; further, a reset mechanism is provided in the motion joint 1, and when the robot is walking, a reset mechanism is provided. After the external force acting on the suction cup 14 is eliminated during the process, the motion joint 1 can drive the suction cup 14 to reset (for example, keep the suction cup 14 vertical relative to the axis of the lifting device), so that the suction cup 14 can better adapt to the walking surface when the robot lands next time (the suction cup 14 is adsorbed on a different position of the workpiece); secondly, due to the reaction force of the (elastic part) in the reset mechanism, the stability of the robot's walking on the walking surface can be guaranteed, that is, after the suction cup 14 is adsorbed on the workpiece, the robot body is not easy to deflect or shake with the motion joint 1 as the rotation point; thereby improving the convenience of use of the walking robot and its adaptability to the walking surface.

[0030] like Figure 2 、 Figure 3As shown, in a preferred embodiment, the base 2 further comprises a first chamber 9 and a second chamber 10. The first chamber 9 is connected to the second chamber 10. The axes of the first chamber 9 and the second chamber 10 are perpendicular to each other, and the second chamber 10 is located in the middle of the first chamber 9 relative to the length of the first chamber 9. The first rack 5 is mounted in the first chamber 9 and can slide back and forth along the axial direction of the first chamber 9. The first gear 6 is mounted in the second chamber 10. Specifically, when the motion joint is subjected to force, the rotating part 3 rotates relative to the base 2 and drives the first gear 6 to rotate, and the first gear 6 drives the first rack 5 meshing with it to slide left or right along the first chamber 9; further, for example, when the first rack 5 slides to the left, it will apply an extrusion force to the first elastic member 7 located at its left end, thereby releasing the elastic force originally acting on the second elastic member 8, that is, at this time, the extrusion force on the first elastic member 7 is greater than the extrusion force on the second elastic member 8; and when the external force acting on the motion joint is eliminated, that is, when the extrusion force acting on the first elastic member 7 is eliminated, the first elastic member 7 will push the first rack 5 to move to the right and drive the rotating part 3 to rotate through the first gear 6 until the forces on the first elastic member 7 and the second elastic member 8 reach a relatively balanced state, that is, the motion joint is self-reset. The first elastic member 7 and the second elastic member 8 in this embodiment are both springs.

[0031] like Figure 1 、 Figure 4 As shown, in a preferred embodiment, an adjustment member 11 is provided at each end of the first chamber 9. The adjustment member 11 is connected to the base 2 via a thread and is movable along the length of the first chamber 9. One end of the first elastic member 7 and the second elastic member 8 abuts the ends of the first rack 5, respectively, and the other ends of the first elastic member 7 and the second elastic member 8 abut the adjustment member 11. By adjusting the adjustment member 11, a compressive force or preload can be applied to the first elastic member 7 and / or the second elastic member 8, thereby adjusting the driving torque of the motion joint. Alternatively, by adjusting the adjustment member 11, the initial reset point of the rotating portion can be adjusted. For example, when the rotating portion of the motion joint is at the initial reset point, the suction cup 14 is perpendicular to the axis of the lifting device. However, by adjusting the adjustment member 11, the suction cup 14 is no longer perpendicular to the axis of the lifting device. That is, after predicting the curvature change of the robot's walking area, the spring preload can be adjusted through the adjustment member, thereby allowing the robot to flexibly adapt to various working conditions.

[0032] like Figure 2 、 Figure 4As shown, in a preferred embodiment, the first rack 5 is further provided with an air pressure balancing hole 12, which extends through the first rack 5 in the axial direction relative to the first rack 5. The provision of the air pressure balancing hole 12 can prevent the first rack from forming a piston effect when the first chamber 9 moves. Furthermore, the base 2 is further provided with a locking member 13, which is connected to the base 2 via a threaded connection and is used to fix the position of the adjusting member 11 relative to the base 2. When locked, the end of the locking member 13 abuts against the adjusting member 11, thereby preventing the adjusting member 11 from loosening and affecting the movable joint.

[0033] like Figure 5 As shown, this embodiment also provides an adsorption assembly, which includes a suction cup 14 and the motion joint 1 described above. The base 2 of the motion joint 1 is fixed to the suction cup 14 by bolts, and the rotating portion 3 of the motion joint 1 is used to connect to an external device. Furthermore, it includes a lifting mechanism 15, which is fixed to the rotating portion 3 of the motion joint 1 by bolts. The motion joint 1 allows the suction cup 14 to rotate or deflect relative to the lifting mechanism 15.

[0034] like Figure 5 As shown, in a preferred embodiment, the lifting mechanism 15 includes a guide rail 16, a slide 17, and a drive mechanism. The guide rail 16 is fixed to the motion joint 1 via bolts. The slide 17 is slidably connected to the guide rail 16 and can slide back and forth along the length of the guide rail 16. The drive mechanism is fixed to the slide 17 and is in transmission connection with the guide rail 16, and is used to drive the slide 17 to move relative to the guide rail. Furthermore, the drive mechanism includes a motor 18, a second gear 19, and a second rack 20. The second rack 20 is fixed to the guide rail 16, the second gear 19 is fixed to the drive shaft of the motor 18, the motor 18 is fixed to the slide 17 via bolts, the second gear 19 is meshed with the second rack 20, and the axis of the second rack 20 is parallel to the axis of the guide rail 16. Furthermore, the lifting mechanism 15 includes a reinforcement rod 21, which is fixed to the guide rail 16 via bolts. The reinforcement rod 21 is used to increase the rigidity of the guide rail 16 and reduce the deformation of the guide rail 16 when subjected to force. The lifting mechanism 15 can realize the lifting action of the suction cup 14 (lifting the foot), or, when a step appears on the walking surface, the suction cup 14 can be adjusted through the lifting mechanism 15 without adjusting the overall posture of the robot.

[0035] The beneficial effects of the present application relative to the prior art mainly manifest in that: by arranging the movement joint on the suction cup, the suction cup as the walking foot of the robot can be adaptively attached to the walking surface of the workpiece, when the walking surface is arc-shaped, the suction cup can be deflected relative to the robot with the movement joint as the rotation point, and then the suction cup can be better attached to the walking surface, thereby reducing the unbalanced force of the suction cup, and also making it difficult for the suction cup and the workpiece to produce a gap, ensuring the suction force of the suction cup relative to the walking surface, that is, the robot is not easy to fall off the walking surface; further, the reset mechanism is arranged in the movement joint, when the external force acting on the suction cup in the walking process of the robot is eliminated, the movement joint can drive the suction cup to reset (for example, the suction cup keeps a vertical state relative to the axis of the lifting device), thereby facilitating the suction cup to better adapt to the walking surface when the robot lands again (the suction cup is adsorbed on different positions of the workpiece); secondly, due to the reaction force of the reset mechanism (elastic member), the stability of the robot walking on the walking surface can be ensured, that is, after the suction cup is adsorbed on the workpiece, the robot body is not easy to deflect and sway with the movement joint as the rotation point, thereby improving the convenience of using the walking robot and the adaptability to the walking surface.

[0036] In this specification, unless otherwise expressly specified and limited, a first feature being "on", "above", or "under" a second feature can interpose one or more third features between the first and second features. Also, a first feature being "on", "above", or "under" a second feature can interpose one or more third features between the first and second features. In addition, a first feature being "on", "above", or "under" a second feature can be directly on, above, or under the second feature. In this specification, unless otherwise expressly specified and limited, a first feature being "on", "above", or "under" a second feature can be directly on, above, or under the second feature. In this specification, unless otherwise expressly specified and limited, a first feature being "on", "above", or "under" a second feature can be directly on, above, or under the second feature.

[0037] In the description of the specification, the description of the terms "preferred embodiment", "still another embodiment", "other embodiments", "specific examples", or the like means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Also, the specific features, structures, materials, or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0038] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A motion joint, characterized in that: The device comprises a base, a rotating portion, and a reset mechanism, wherein the rotating portion is connected to the base, the rotating portion and the base are respectively used to connect to external equipment, and the rotating portion and the base can rotate relative to each other when subjected to an external force, and the reset mechanism is mounted on the base and cooperates with the rotating portion. After the external force acting on the rotating portion or the base is eliminated, the reset mechanism restores the rotating portion to its initial position relative to the base; The reset mechanism includes a first rack, a first gear, a first elastic member, and a second elastic member, wherein the first gear is fixedly connected to the rotating part, the first rack is slidably connected to the base, and the first rack is meshed with the first gear; The base is further provided with a first chamber and a second chamber, the first chamber is communicated with the second chamber, the first rack is installed in the first chamber and can slide along the axial direction of the first chamber, and the first gear is installed in the second chamber; Adjusting members are provided at both ends of the first chamber, respectively. The adjusting members are movably connected to the base and can move along the length direction of the first chamber. One end of the first elastic member and the second elastic member abut against two ends of the first rack respectively, and the other end of the first elastic member and the second elastic member abut against the adjusting member respectively; The base is also provided with a locking member, and the locking member is used to fix the position of the adjusting member relative to the base; The locking member is connected to the base via threads.

2. The motion joint according to claim 1, characterized in that: The first rack is further provided with an air pressure balance hole, and the air pressure balance hole passes through the first rack in the axial direction relative to the first rack.

3. An adsorption component, characterized in that: It comprises a suction cup and a motion joint as described in any one of claims 1 to 2, wherein the base of the motion joint is fixedly connected to the suction cup, and the rotating part of the motion joint is used to connect to an external device.

4. The adsorption assembly according to claim 3, characterized in that: It also includes a lifting mechanism, which is fixedly connected to the rotating part of the motion joint, and the motion joint enables the suction cup to rotate relative to the lifting mechanism.

5. The adsorption assembly according to claim 4, characterized in that: The lifting mechanism includes a guide rail, a slide and a driving mechanism, wherein the guide rail is fixedly connected to the motion joint, the slide is slidably connected to the guide rail, the driving mechanism is fixedly connected to the slide, the driving mechanism is transmission-connected to the guide rail, and the driving mechanism is used to drive the slide to move relative to the guide rail; The driving mechanism includes a motor, a second gear and a second rack, the second rack is fixedly connected to the guide rail, the second gear is fixedly connected to the driving shaft of the motor, the motor is fixedly connected to the slide, and the second gear is meshed with the second rack.

6. The adsorption assembly according to claim 5, characterized in that: The lifting mechanism further includes a reinforcing rod, which is fixedly connected to the guide rail.

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