Passive two-way opening and closing multi-connecting-rod mechanism

Abstract

The invention discloses a passive two-way opening and closing multi-connecting-rod mechanism, and relates to the technical field of bridge maintenance robots. The device comprises a left connecting rod, a right connecting rod and a bidirectional opening and closing connecting rod, and is characterized in that an upward first opening is formed in the side wall of the top of the left connecting rod, and a downward second opening is formed in the side wall of the bottom of the right connecting rod; the two-way opening and closing connecting rod forms a revolute pair through the first opening and the second opening and is rotationally connected with the left connecting rod and the right connecting rod; the end, close to the left connecting rod, of the two-way opening and closing connecting rod is rotationally connected with a locking assembly. Through mutual cooperation of the left connecting rod, the right connecting rod, the two-way opening and closing connecting rod and the locking assembly, two-way opening and locking can be achieved in a self-adaptive mode through the extrusion force of an obstacle, the opening state or the locking state can be automatically switched, active control switching is not needed, operation is easy, and convenience and practicability are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of bridge maintenance robots, in particular to a passive two-way opening and closing multi-link mechanism. Background Art

[0002] With the development of robot technology, robots are more and more widely used in various industries. In some specific work scenarios, robots need to cross obstacles such as cables or rods. For example, when a bridge cable maintenance robot is inspecting a sling cable installed with a cross cable clamp, the entire robot needs to be able to pass through the cross cable clamp in both directions to achieve the maintenance purpose. The existing sling cable maintenance robots do not have a safe and reliable passability method for cables installed with cross cable clamps. At present, the maintenance work of the related cable bodies mainly relies on manual inspection. Therefore, research on a multi-link mechanism that can be installed on the robot and can be passively opened and closed in both directions so that the robot has the ability to pass obstacles in both directions is of great significance to the application and development of robots. Summary of the invention

[0003] The object of the present invention is to provide a passive two-way opening and closing multi-link mechanism to solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned object, the present invention provides the following technical solutions: a passive two-way opening and closing multi-link mechanism, comprising a left link, a right link and a two-way opening and closing link, wherein the top side wall of the left link is provided with a first opening in an upward direction, and the bottom side wall of the right link is provided with a second opening in a downward direction, and the two-way opening and closing link is rotatably connected to the left link and the right link through the first opening and the second opening to form a rotating pair;

[0005] One end of the two-way opening and closing connecting rod close to the left connecting rod is rotatably connected with a locking assembly;

[0006] When the two-way opening and closing link contacts an obstacle in the positive direction, it will rotate around the left link and separate from the right link. When the two-way opening and closing link contacts an obstacle in the negative direction, it will rotate around the right link and separate from the left link.

[0007] Furthermore, a first circular groove and a second circular groove are respectively formed inside the left connecting rod and the right connecting rod.

[0008] Furthermore, two ends of the bidirectional opening and closing connecting rod are respectively fixedly connected with a first connecting rod shaft and a second connecting rod shaft, and the first connecting rod shaft and the second connecting rod shaft are clamped in the first opening and the second opening to form a rotating pair.

[0009] Furthermore, the first connecting rod shaft is coaxially arranged with the first circular groove, and the second connecting rod shaft is coaxially arranged with the second circular groove.

[0010] Furthermore, a first spring and a second spring are fixedly connected to the side walls of the left connecting rod and the right connecting rod respectively, and the first spring and the second spring are in contact with two ends of the two-way opening and closing connecting rod respectively.

[0011] Furthermore, the number of the locking components is two, and the two locking components are arranged in a central symmetrical manner along the center point of the two-way opening and closing connecting rod.

[0012] Further, the locking assembly includes a locking link rotatably connected to the first link shaft, a third spring is fixedly connected to the side wall of the locking link, and the other end of the third spring is fixed to the two-way opening and closing link;

[0013] A limit shaft is fixedly connected to the side wall of the bidirectional opening and closing connecting rod, one end of the locking connecting rod abuts against the limit shaft, and one end of the locking connecting rod close to the limit shaft is clamped in the first circular groove or the second circular groove.

[0014] Furthermore, the locking link includes an arc segment and a straight segment, and the straight segment is parallel to the two-way opening and closing link in a natural state.

[0015] The present invention has at least the following beneficial effects:

[0016] The present invention can realize two-way opening and locking by adaptively utilizing the extrusion force of obstacles through the cooperation of the left connecting rod, the right connecting rod, the two-way opening and closing connecting rod and the locking assembly, and the open or locked state can be switched automatically without active control switching, which is simple to operate, convenient and practical.

[0017] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a cross-sectional schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a front view schematic diagram of the locking assembly structure of the present invention;

[0020] Figure 3 It is a schematic diagram of the action process of the two-way opening and closing connecting rod when the present invention passes through an obstacle in the forward direction;

[0021] Figure 4 It is a schematic diagram of the action process of the two-way opening and closing connecting rod when the present invention passes through an obstacle in reverse.

[0022] Reference numerals:

[0023] 1. Two-way opening and closing connecting rod; 2. Left connecting rod; 21. First circular groove; 22. First spring; 3. Right connecting rod; 31. Second circular groove; 32. Second spring; 4. Obstacle; 5. First opening; 6. Second opening; 7. Locking assembly; 71. Locking connecting rod; 72. Third spring; 73. Limiting shaft; 8. First connecting rod shaft; 9. Second connecting rod shaft. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0025] See also Figure 1-Figure 4 The present invention provides a technical solution: a passive two-way opening and closing multi-link mechanism, comprising a left link 2, a right link 3 and a two-way opening and closing link 1, wherein the top side wall of the left link 2 is provided with a first opening 5 in an upward direction, and the bottom side wall of the right link 3 is provided with a second opening 6 in a downward direction, and the two-way opening and closing link 1 is rotatably connected to the left link 2 and the right link 3 through the first opening 5 and the second opening 6 respectively;

[0026] One end of the two-way opening and closing connecting rod 1 close to the left connecting rod 2 is rotatably connected with a locking assembly 7;

[0027] When the two-way opening and closing link 1 contacts the obstacle 4 in the forward direction, it will rotate around the left link 2 and separate from the right link 3. When the two-way opening and closing link 1 contacts the obstacle 4 in the reverse direction, it will rotate around the right link 3 and separate from the left link 2.

[0028] According to the technical solution of this embodiment, the two ends of the two-way opening and closing connecting rod 1 are respectively fixedly connected with the first connecting rod shaft 8 and the second connecting rod shaft 9. The first connecting rod shaft 8 and the second connecting rod shaft 9 are clamped in the first opening 5 and the second opening 6 to form a rotating pair, which facilitates the rotational connection between the two-way opening and closing connecting rod 1 and the left connecting rod 2 and the right connecting rod 3.

[0029] According to the technical solution of this embodiment, the left connecting rod 2 and the right connecting rod 3 are respectively provided with a first circular groove 21 and a second circular groove 31, the first connecting rod shaft 8 is coaxially arranged with the first circular groove 21, and the second connecting rod shaft 9 is coaxially arranged with the second circular groove 31. The first circular groove 21 and the second circular groove 31 are conveniently used to limit the locking assembly 7.

[0030] According to the technical solution of this embodiment, there are two locking assemblies 7, which are arranged symmetrically along the center point of the two-way opening and closing link 1. The locking assembly 7 includes a locking link 71 rotatably connected to the first link shaft 8, and a third spring 72 is fixedly connected to the side wall of the locking link 71, and the other end of the third spring 72 is fixed to the two-way opening and closing link 1. The third spring 72 is provided to provide elastic potential energy for the locking link 71 to drive it to reset.

[0031] When the locking cam 72 is in the closed position, the locking cam 72 will be in the closed position with the first and second locking cams 73 closed when the locking cam 73 is in the closed position.

[0032] Furthermore, the side walls of the left connecting rod 2 and the right connecting rod 3 are respectively fixedly connected with a first spring 22 and a second spring 32, and the first spring 22 and the second spring 32 are respectively in contact with both ends of the two-way opening and closing connecting rod 1, such as Figure 3 a- Figure 3 As shown in d, when passing through the obstacle 4 in the forward direction, the two-way opening and closing link 1 is unlocked from the right link 3 and rotated apart under the positive action of the obstacle 4, and the first spring 22 on the left link 2 is compressed to store energy. When the two-way opening and closing link 1 passes through the obstacle 4, the first spring 22 releases energy to realize the resetting of the two-way opening and closing link 1 and reconnect with the right link 3. The locking link 71 on the right link 3 is reset under the action of the third spring 72 and is snapped into the second circular groove 31 to realize the locked state of the connection between the two-way opening and closing link 1 and the right link 3. The multi-link mechanism completes the forward passing of the obstacle 4.

[0033] like Figure 4 a- Figure 4As shown in d, when passing through the obstacle 4 in the reverse direction, the two-way opening and closing link 1 is unlocked from the left link 2 and rotated apart under the reverse action of the obstacle 4, and the second spring 32 on the right link 3 is compressed to store energy. When the two-way opening and closing link 1 passes through the obstacle 4, the second spring 32 releases energy to realize the resetting of the two-way opening and closing link 1 and reconnect with the left link 2. The locking link 71 on the left link 2 is reset under the action of the third spring 72 and is snapped into the first circular groove 21 to realize the locked state of the connection between the two-way opening and closing link 1 and the left link 2, and the multi-link mechanism completes the reverse passage of the obstacle 4.

[0034] It should be noted that the locking link 71 includes an arc segment and a straight segment. In the natural state, the straight segment is parallel to the two-way opening and closing link 1, the arc segment is rotatably connected to the first connecting rod shaft 8 and the second connecting rod shaft 9, and the ends of the arc segment are stuck in the first circular groove 21 and the second circular groove 31.

[0035] The use principle and process of the present invention are as follows: when it is necessary to pass through the obstacle 4 in the forward direction, the two-way opening and closing link 1 is unlocked from the right link 3 and rotated and separated under the forward action of the obstacle 4, and the first spring 22 on the left link 2 is compressed to store energy. After the two-way opening and closing link 1 passes through the obstacle 4, the first spring 22 releases energy to realize the resetting of the two-way opening and closing link 1 and reconnect with the right link 3. The locking link 71 on the right link 3 is reset under the action of the third spring 72 and is snapped into the second circular groove 31 to realize the locked state of the connection between the two-way opening and closing link 1 and the right link 3, and the multi-link mechanism completes the forward passing of the obstacle 4;

[0036] When it is necessary to pass through the obstacle 4 in the reverse direction, the two-way opening and closing link 1 is unlocked and rotated apart from the left link 2 under the reverse action of the obstacle 4, and the second spring 32 on the right link 3 is compressed to store energy. When the two-way opening and closing link 1 passes through the obstacle 4, the second spring 32 releases energy to realize the resetting of the two-way opening and closing link 1 and reconnect with the left link 2. The locking link 71 on the left link 2 is reset under the action of the third spring 72 and is snapped into the first circular groove 21 to realize the locked state of the connection between the two-way opening and closing link 1 and the left link 2, and the multi-link mechanism completes the reverse passage of the obstacle 4.

[0037] 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.

[0038] For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. When an element is referred to as being "assembled on", "installed on", "fixed on" or "set on" another element, it can be directly on the other element or there can also be a centered element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be a centered element at the same time. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are only for illustrative purposes and are not intended to be the only implementation method.

[0039] 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.

[0040] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

Claims

1. A passive two-way opening and closing multi-link mechanism, comprising a left connecting rod (2), a right connecting rod (3) and a two-way opening and closing connecting rod (1), characterized in that: The top side wall of the left connecting rod (2) is provided with a first opening (5) facing upward, and the bottom side wall of the right connecting rod (3) is provided with a second opening (6) facing downward, and the two-way opening and closing connecting rod (1) is rotatably connected to the left connecting rod (2) and the right connecting rod (3) by forming a rotating pair through the first opening (5) and the second opening (6); One end of the two-way opening and closing connecting rod (1) close to the left connecting rod (2) is rotatably connected to a locking assembly (7); When the two-way opening and closing link (1) contacts the obstacle (4) in the forward direction, it rotates around the left link (2) and separates from the right link (3); when the two-way opening and closing link (1) contacts the obstacle (4) in the reverse direction, it rotates around the right link (3) and separates from the left link (2).

2. A passive two-way opening and closing multi-link mechanism according to claim 1, characterized in that: A first circular groove (21) and a second circular groove (31) are respectively formed inside the left connecting rod (2) and the right connecting rod (3).

3. A passive two-way opening and closing multi-link mechanism according to claim 2, characterized in that: The two ends of the bidirectional opening and closing connecting rod (1) are respectively fixedly connected to a first connecting rod shaft (8) and a second connecting rod shaft (9); the first connecting rod shaft (8) and the second connecting rod shaft (9) are clamped in the first opening (5) and the second opening (6) to form a rotating pair.

4. The passive two-way opening and closing multi-link mechanism according to claim 3, characterized in that: The first connecting rod shaft (8) and the first circular groove (21) are arranged coaxially, and the second connecting rod shaft (9) and the second circular groove (31) are arranged coaxially.

5. The passive two-way opening and closing multi-link mechanism according to claim 3, characterized in that: A first spring (22) and a second spring (32) are fixedly connected to the side walls of the left connecting rod (2) and the right connecting rod (3), respectively. The first spring (22) and the second spring (32) are in contact with both ends of the two-way opening and closing connecting rod (1), respectively.

6. The passive two-way opening and closing multi-link mechanism according to claim 5, characterized in that: The number of the locking components (7) is two, and the two locking components (7) are arranged in a centrally symmetrical manner along the center point of the bidirectional opening and closing connecting rod (1).

7. The passive two-way opening and closing multi-link mechanism according to claim 5, characterized in that: The locking assembly (7) comprises a locking link (71) rotatably connected to the first link shaft (8), a third spring (72) is fixedly connected to the side wall of the locking link (71), and the other end of the third spring (72) is fixed to the two-way opening and closing link (1); A limit shaft (73) is fixedly connected to the side wall of the bidirectional opening and closing connecting rod (1), one end of the locking connecting rod (71) abuts against the limit shaft (73), and one end of the locking connecting rod (71) close to the limit shaft (73) is clamped in the first circular groove (21) or the second circular groove (31).

8. The passive two-way opening and closing multi-link mechanism according to claim 7, characterized in that: The locking connecting rod (71) comprises an arc segment and a straight segment, and the straight segment is parallel to the two-way opening and closing connecting rod (1) in a natural state.

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