Multi-directional highly adaptable composite joint support leg, aerial work robot and its application

Abstract

The present invention belongs to the technical field of mechanical engineering robots, and discloses a multi-directional highly adaptable composite joint support leg, an aerial work robot and its application. The multi-directional highly adaptable composite joint support leg comprises: a support leg component; the head and tail ends of the support leg component are respectively equipped with meshing gears and wheel connectors; the meshing gears are meshed with the robot body, and the wheel connectors are connected to the magnetically powered wheels. The posture of the supporting whole machine can adapt to changes in the slope of the roof, making it convenient for the robot to walk stably on the sloping roof and perform subsequent operations. The present invention can adapt to changes in the slope of the roof through the different angle positioning holes of the hinge elbow joint adjustment plate with positioning holes. The posture of the supporting body can adapt to changes in the slope of the roof, making it convenient for the robot to walk stably on a non-horizontal roof, avoiding the problem of derailment, and facilitating subsequent operations.

Description

Technical Field

[0001] The present invention belongs to the technical field of mechanical engineering robots, and in particular relates to a multi-directional highly adaptable composite joint support leg, an aerial work robot and applications. Background Art

[0002] At present, relevant research and demonstration applications have been carried out on steel structure spraying robots for high-altitude operations to solve the problems of high-altitude, high-intensity, and high-risk operations, effectively improve the efficiency of engineering construction, and speed up the progress of the project. Through the above analysis, the problems and defects of the existing technology are: most of the existing technologies are for spraying vertical components such as steel columns, and there is no robot equipment for spraying high-altitude curved roof steel purlins. When the robot walks on the sloping roof, it will encounter a problem: when the curvature of the roof is too large, if the robot platform is too high, the center of gravity will be too high, and derailment will occur. Because there are many sloping roofs, it is a technical problem that needs to be solved urgently to realize operations on non-horizontal roofs through high-altitude robots. Summary of the invention

[0003] In order to overcome the problems existing in the related technology, the disclosed embodiments of the present invention provide a multi-directional highly adaptable composite joint support leg, an aerial work robot and its application, which belongs to the field of aerial work steel structure spraying robot and can be applied to aerial purlin spraying robot operations.

[0004] The technical solution is as follows: A multi-directional highly adaptable composite joint support leg comprises: a support leg component;

[0005] The front and rear ends of the support leg parts are respectively equipped with meshing gears and wheel connectors; the meshing gears are meshed and connected with the robot body, and the wheel connectors are connected with the magnetic power wheels.

[0006] In one embodiment, the support leg member further comprises: a hinged elbow joint, an upper straight arm and a lower curved arm;

[0007] The meshing gear is fixedly welded to the hinged elbow joint; the hinged elbow joint is movably connected to the wheel connecting piece through an upper straight arm, a lower curved arm, and forms a parallelogram mechanism.

[0008] In one embodiment, the hinged elbow joint is further welded with an ear plate and a bottom plate; the ear plate and the bottom plate are welded to form a frame structure; and a positioning hole is opened on the ear plate;

[0009] The bottom plate is provided with a bolt hole for accommodating the passage of the adjusting bolt; the outer sleeve of the adjusting bolt is provided with a spring; the spring of the outer sleeve is pressed against a positioning block formed on the adjusting plate to reduce vibration of the adjusting plate.

[0010] In one embodiment, the adjustment plate is provided with an irregular through hole, and a first adjustment hole, a second adjustment hole, a third adjustment hole, and a fourth adjustment hole are provided around the irregular through hole;

[0011] The fourth adjustment hole is rotatably connected to the positioning hole via the optical axis;

[0012] The first adjustment hole and the second adjustment hole are rotatably connected to the first straight arm hole and the second straight arm hole of the upper straight arm respectively;

[0013] The third adjustment hole is rotatably connected to the shaft hole at the upper end of the lower crank arm.

[0014] In one embodiment, there are multiple second adjustment holes distributed around the first adjustment hole to achieve smooth limiting of the parallelogram mechanism formed by the supporting leg components.

[0015] In one embodiment, a third straight arm hole is provided at the end of the upper straight arm, which is rotatably connected to the upper hole provided on the wheel connecting frame on the wheel connecting member through the optical axis;

[0016] The end of the lower crank arm is provided with a crank arm lower end shaft hole, and is rotatably connected with a lower hole provided on a wheel connection frame on the wheel connection member through an optical axis.

[0017] In one embodiment, the hinged elbow joint is connected to the robot body via a vertical axis, so as to realize horizontal rotation of the wheel leg around the vertical axis;

[0018] A certain gap is maintained between the spring and the positioning block for shock absorption.

[0019] Another object of the present invention is to provide an aerial work robot, the aerial work robot comprising the four supporting leg components, one end of which is mounted on a robot body, and the other end is connected to a magnetic power wheel through a wheel frame;

[0020] The robot body is provided with a correction adjustment rod positioning plate at both the front and rear ends; the left and right sides of the correction adjustment rod positioning plate are respectively connected to the first section of the wheel leg correction adjustment rod; the tail end of the wheel leg correction adjustment rod is connected to the wheel frame through a movable frame.

[0021] Another object of the present invention is to provide an application of the aerial work robot in horizontal roof spraying operations.

[0022] Another object of the present invention is to provide an application of the aerial work robot in non-horizontal roof spraying operations.

[0023] Combining all the above technical solutions, the advantages and positive effects of the present invention are as follows:

[0024] First, in view of the technical problems existing in the above-mentioned prior art and the difficulty of solving the problems, this paper closely combines the technical solutions to be protected by the present invention and the results and data in the research and development process, and makes a detailed and in-depth analysis of how the technical solutions of the present invention solve the technical problems, as well as some creative technical effects brought about after solving the problems. The specific description is as follows: The present invention provides a multi-directional and highly adaptable composite joint support leg, which supports the posture of the whole machine to adapt to changes in the roof slope, making it convenient for the robot to walk stably on the sloping roof and perform subsequent operations.

[0025] Second, considering the technical solution as a whole or from the perspective of the product, the technical effects and advantages of the technical solution to be protected by the present invention are specifically described as follows: The present invention can adapt to changes in the roof slope through the design of different angle positioning holes of the hinge elbow joint adjustment plate with positioning holes, and the supporting body posture can adapt to changes in the roof slope, making it convenient for the robot to walk stably on non-horizontal roofs, avoiding derailment problems, and facilitating subsequent operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings herein are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description, serve to explain the principles of the present disclosure;

[0027] Figure 1 is a schematic diagram of the arrangement of the support legs in a robot provided by an embodiment of the present invention;

[0028] Figure 2 is a schematic diagram of a multi-directional highly adaptable composite joint support leg provided by an embodiment of the present invention;

[0029] Figure 3 It is an exploded schematic diagram of a multi-directional highly adaptable composite joint support leg provided by an embodiment of the present invention;

[0030] Figure 4 is an exploded view of a hinged elbow joint provided by an embodiment of the present invention;

[0031] Figure 5 is an exploded right oblique view of a hinged elbow joint provided by an embodiment of the present invention;

[0032] Figure 6 is an exploded left side plan view of a hinged elbow joint provided by an embodiment of the present invention;

[0033] Figure 7 is an exploded right oblique view of a hinged elbow joint provided by an embodiment of the present invention;

[0034] Figure 8 is an exploded right oblique view of a hinged elbow joint provided by an embodiment of the present invention;

[0035] Fig. 9is a schematic diagram of adjusting hole position arrangement provided by an embodiment of the present invention;

[0036] Fig.10 It is a schematic diagram of the arrangement of the straight arm holes provided by an embodiment of the present invention;

[0037] Fig.11 It is a schematic diagram of the arrangement of the holes of the lower arm provided by an embodiment of the present invention;

[0038] In the figure: 1, hinged elbow joint; 11, adjustment plate; 110, first adjustment hole; 111, second adjustment hole; 112, third adjustment hole; 113, fourth adjustment hole; 114, positioning block; 12, ear plate; 121, positioning hole; 13, spring; 14, adjustment bolt; 15, hinged gear; 16, bottom plate;

[0039] 2. Upper straight arm; 21. First straight arm hole; 22. Second straight arm hole; 23. Third straight arm hole;

[0040] 3. Wheel connector;

[0041] 4. Lower crank arm; 41. Axial hole at the upper end of the crank arm; 42. Axial hole at the lower end of the crank arm;

[0042] 5. Correction adjustment rod positioning plate;

[0043] 6. Wheel leg correction adjustment rod;

[0044] 7. Magnetic power wheel;

[0045] 8. Wheel frame;

[0046] 9. Robot body;

[0047] 100. Support leg assembly. DETAILED DESCRIPTION

[0048] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific implementation disclosed below.

[0049] Example 1

[0050] As shown in 1 , an embodiment of the present invention provides an aerial work robot including four supporting leg components 100 , one end of which is mounted on a robot body 9 ;

[0051] The other end of the support leg member 10 is connected to the magnetic power wheel 7 through the wheel frame 8;

[0052] The robot body 9 is provided with a correction adjustment rod positioning plate 5 at both ends; the left and right sides of the correction adjustment rod positioning plate 5 are respectively connected to the first section of the wheel leg correction adjustment rod 6; the tail end of the wheel leg correction adjustment rod 6 is connected to the wheel frame 8 through a movable frame.

[0053] Example 2

[0054] like Figure 2-Figure 3 As shown,

[0055] The front and rear ends of the support leg member 10 are respectively installed with meshing gears 15 and wheel connectors 3; the meshing gears 15 are meshed and connected with the robot body 9, and the wheel connector 3 is connected with the magnetic power wheel 7.

[0056] The meshing gear 15 is fixedly welded to the hinged elbow joint 1; the hinged elbow joint 1 is movably connected to the upper straight arm 2, the lower curved arm 4 and the wheel connector 3 through an optical axis to form a parallelogram mechanism.

[0057] like Figure 4 , Figure 5 , Figure 6 , Figure 8 As shown, the hinged elbow joint 1 is also welded with an ear plate 12 and a bottom plate 16; the ear plate 12 and the bottom plate 16 are welded to form a frame structure; a positioning hole 121 is provided on the ear plate 12; a bolt hole for accommodating the adjustment bolt 14 is provided on the bottom plate 16; a spring 13 is provided on the outer sleeve of the adjustment bolt 14; the spring 13 of the outer sleeve is tightened with the positioning block 114 formed on the adjustment plate 11 to achieve vibration reduction of the adjustment plate 11.

[0058] like Figure 1 , Figure 6 , Figure 7 , Fig. 9 , Fig.10 , Fig.11 As shown, the adjustment plate 11 is provided with an irregular through hole, and a first adjustment hole 110, a second adjustment hole 111, a third adjustment hole 112, and a fourth adjustment hole 113 are provided around the irregular through hole;

[0059] The fourth adjustment hole 113 is rotatably connected to the positioning hole 121 via an optical axis;

[0060] The first adjustment hole 110 and the second adjustment hole 111 are rotatably connected to the first straight arm hole 21 and the second straight arm hole 22 of the upper straight arm 2 respectively;

[0061] The third adjustment hole 112 is rotatably connected to the shaft hole 41 at the upper end of the lower crank arm 4;

[0062] like Figure 1 , Fig.10As shown, a third straight arm hole 23 is provided at the end of the upper straight arm 2, which is rotatably connected to the upper hole provided on the wheel connecting frame on the wheel connecting member 3 through the optical axis;

[0063] like Figure 1 , Fig.11 As shown, a crank lower end shaft hole 42 is provided at the end of the lower crank arm 4, and is rotatably connected to a lower hole provided in a wheel connecting frame on the wheel connecting member 3 through an optical axis.

[0064] In the embodiment of the present invention, further, there are 5 second adjustment holes 111 in total. According to the required height of the robot body, a certain hole is selected and connected to the second straight arm hole 22 through the optical axis to facilitate the support leg component 10 to form a parallelogram structure.

[0065] There are 5 second adjustment holes 111, which are distributed with the first adjustment hole 110 as the center, so as to achieve smooth limiting of the parallelogram mechanism formed by the supporting leg member 10;

[0066] In the embodiment of the present invention, further, the hinged elbow joint 1 is fixedly mounted with hinged gears 15, and the engagement between the hinged gears 15 can ensure that the robot body is in a stable distribution posture when the robot body is on a slope roof;

[0067] The hinged elbow joint 1 is connected to the robot body 9 via a vertical axis, so that the wheel leg can rotate horizontally around the vertical axis.

[0068] In an embodiment of the present invention, further, Figure 7 As shown, the adjusting bolt 14 corresponds to the positioning block 114 of the adjusting plate 11, and a gap of 2 mm is maintained between the adjusting bolt 14 and the positioning block 114 through the spring 13 sleeved on the adjusting bolt 14, so as to achieve a shock absorbing effect.

[0069] Example 3

[0070] The multi-directional highly adaptable composite joint support leg provided by the embodiment of the present invention is mainly used in horizontal and non-horizontal roof operations. The working principle of the multi-directional highly adaptable composite joint support leg provided by the embodiment of the present invention is as follows:

[0071] The robot walks on a non-horizontal roof. According to the roof slope, the second straight arm hole 22 of the upper straight arm 2 is adjusted to correspond to the corresponding second adjustment hole 111, and the upper and lower heights of the fuselage are adjusted to avoid derailment due to excessive center of gravity.

[0072] An ear plate 12 is welded on the hinged elbow joint 1, and a base plate 16 is provided at the bottom of the ear plate 12. The adjusting bolt 14 passes through the bolt hole of the base plate 16 and is tightened by the spring 13 of the outer sleeve and the positioning block 114 to achieve vibration reduction of the adjusting plate 11.

[0073] In a specific embodiment, the robot walks on a non-horizontal roof. If the roof slope is large, the second straight arm hole 22 of the upper straight arm 2 can be adjusted to correspond to the topmost hole of the corresponding second adjustment hole 111, thereby lowering the upper and lower angles of the robot arm and the fuselage to lower the height of the fuselage and avoid derailment due to excessive center of gravity.

[0074] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0075] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with the technical field within the technical scope disclosed by the present invention and within the spirit and principles of the present invention should be covered within the protection scope of the present invention.

Claims

1. A multi-directional highly adaptable composite joint support leg, characterized in that: include: Support leg component (10) The front and rear ends of the support leg component (10) are respectively provided with meshing gears (15) and wheel connectors (3); the meshing gears (15) are meshed and connected to the robot body (9), and the wheel connectors (3) are connected to the magnetic power wheel (7); The supporting leg component (10) further comprises: a hinged elbow joint (1), an upper straight arm (2) and a lower curved arm (4); The meshing gear (15) is fixedly welded to the hinged elbow joint (1), and the hinged elbow joint (1) is movably connected to the wheel connecting member (3) through an upper straight arm (2) and a lower curved arm (4), thereby forming a parallelogram mechanism; The hinged elbow joint (1) is welded with an ear plate (12) and a bottom plate (16); the ear plate (12) and the bottom plate (16) are welded to form a frame structure, and a positioning hole (121) is opened on the ear plate (12); The bottom plate (16) is provided with a bolt hole for accommodating the adjusting bolt (14) to pass through, and a spring (13) is provided on the outer sleeve of the adjusting bolt (14); the spring (13) on the outer sleeve is pressed against a positioning block (114) formed on the adjusting plate (11) to reduce vibration of the adjusting plate (11); The adjustment plate (11) is provided with an irregular through hole, and a first adjustment hole (110), a second adjustment hole (111), a third adjustment hole (112), and a fourth adjustment hole (113) are provided around the irregular through hole; The fourth adjustment hole (113) is rotatably connected to the positioning hole (121) via an optical axis; The first adjustment hole (110) and the second adjustment hole (111) are rotatably connected to the first straight arm hole (21) and the second straight arm hole (22) of the upper straight arm (2), respectively; The third adjustment hole (112) is rotatably connected to the shaft hole (41) at the upper end of the crank arm of the lower crank arm (4); The second adjustment holes (111) are multiple and distributed with the first adjustment hole (110) as the center.

2. The multi-directional highly adaptable composite joint support leg according to claim 1, characterized in that: A third straight arm hole (23) is provided at the end of the upper straight arm (2), and is rotatably connected to an upper hole provided in a wheel connection frame on the wheel connection member (3) through an optical axis; a lower curved arm lower end shaft hole (42) is provided at the end of the lower curved arm (4), and is rotatably connected to a lower hole provided in a wheel connection frame on the wheel connection member (3) through an optical axis.

3. The multi-directional highly adaptable composite joint support leg according to claim 1, characterized in that: The hinged elbow joint (1) is connected to the robot body (9) via a vertical axis, and is used to realize horizontal rotation of the wheel leg around the vertical axis; A gap is maintained between the spring (13) and the positioning block (114) for shock absorption.

4. A high-altitude working robot, characterized in that: The aerial work robot comprises the multi-directional highly adaptable composite joint support leg according to any one of claims 1 to 3, wherein the support legs are four in total, one end of which is mounted on a robot body (9), and the other end is connected to a magnetic power wheel (7) through a wheel frame (8); A deviation correction adjustment rod positioning plate (5) is installed at both the front and rear ends of the robot body (9); the left and right sides of the deviation correction adjustment rod positioning plate (5) are respectively connected to the head section of the wheel leg deviation correction adjustment rod (6); and the tail end of the wheel leg deviation correction adjustment rod (6) is connected to the wheel frame (8) through a movable frame.

5. An application of the aerial work robot as claimed in claim 4 in horizontal roof spraying operations.

6. An application of the aerial work robot as claimed in claim 4 in non-horizontal roof spraying operations.

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