Quick docking device and pole-climbing robot comprising same

Abstract

The invention relates to the technical field of intelligent equipment, and discloses a rapid docking device, which comprises a connecting assembly, and the connecting assembly comprises a clamping part; the adjacent connecting assemblies are connected through the butt joint structures; wherein the butt joint structure comprises a first mounting frame and a locking part mounted on the first mounting frame, the locking part has an extending state and a retracting state, when the locking part is in the extending state, the clamping part can be fixed to the side, close to the first mounting frame, of the locking part, and when the locking part is in the retracting state, the clamping part can be fixed to the side, close to the second mounting frame, of the locking part. Therefore, the installation of the connecting assembly and the butt joint structure is realized. And when the locking part is in a retraction state, the clamping part can move towards one side far away from the first mounting frame so as to realize the separation of the connecting assembly and the butt joint structure. The rapid butt joint device is simple in structure, the stability of connection of the overall structure can be guaranteed, and rapid assembly of the connecting assembly and the butt joint structure can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent equipment, and in particular to a quick docking device and a pole climbing robot comprising the device. Background Art

[0002] A pole climbing robot is an automated robot that can climb and complete tasks on vertical walls. To adapt to columns of different sizes or facilitate transportation and storage, most of the current pole climbing robots are composed of multiple docked modules. However, when multiple modules are docked, quick connection and disassembly cannot be achieved or the operation is complicated.

[0003] Therefore, how to provide a device that is easy to operate and can achieve rapid docking and disassembly is a problem that those skilled in the art urgently need to solve. Summary of the invention

[0004] In view of this, the present invention provides a quick docking device to solve the problem that multiple modules cannot be quickly connected or the operation is complicated.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] In one aspect, the present invention provides a quick docking device, comprising:

[0007] A connecting assembly, the connecting assembly comprising a clamping portion;

[0008] A docking structure, through which the adjacent connection components are connected to form an accommodating space capable of accommodating a column;

[0009] Wherein, the docking structure includes a first mounting frame and a locking portion installed on the first mounting frame, the locking portion has an extended state and a retracted state, when the locking portion is in the extended state, the clamping portion can be fixed to a side of the locking portion close to the first mounting frame to achieve the installation of the connecting component and the docking structure; when the locking portion is in the retracted state, the clamping portion can move toward a side away from the first mounting frame to achieve the separation of the connecting component and the docking structure.

[0010] Preferably, the docking structure also includes a second mounting frame, a connecting rod mechanism and an operating part, the second mounting frame is mounted on the first mounting frame, the end of the connecting rod mechanism is connected to the operating part, the transmission part of the connecting rod mechanism is movably connected to the first mounting frame, and the locking part is connected to the transmission part of the connecting rod mechanism.

[0011] Preferably, the locking portion includes a lock body and a lock buckle, the lock body is fixed to the first mounting frame, and the lock buckle is movably connected to the lock body through the connecting rod mechanism. Under the action of the connecting rod mechanism, the lock buckle has an extended state and a retracted state relative to the lock body.

[0012] Preferably, the locking portion includes a lock body, a lock tongue and an electromagnetic element, the lock body is fixed to the first mounting frame, the lock buckle is movably connected to the lock body through the electromagnetic element, and under the action of the adsorption force or repulsion force of the electromagnetic element, the lock buckle has an extended state and a retracted state relative to the lock body.

[0013] Preferably, the connection assembly further comprises a connection frame, at least one end of the connection frame is provided with the clamping portion, and when the connection assembly and the docking structure are in a connected state, the clamping portion is clamped with the docking structure.

[0014] Preferably, the connecting assembly further comprises a guide portion, the guide portion is arranged in the extending direction of the clamping portion and the guide portion is protrudingly arranged on the outer side of the connecting frame;

[0015] The docking structure further comprises guide members, which are arranged at two ends of the first mounting frame and are provided with guide grooves matching the guide portions.

[0016] Preferably, the cross-sectional area of ​​the guide groove gradually decreases in the direction from the clamping portion to the first mounting bracket.

[0017] On the other hand, the present invention also provides a pole climbing robot comprising any of the quick docking devices described above.

[0018] Preferably, the pole-climbing robot further comprises a roller frame and a roller mounted on the roller frame, and the roller frame is connected to the first mounting frame.

[0019] The present invention provides a quick docking device and a pole climbing robot including the docking device. Compared with the prior art, the advantages thereof are:

[0020] The docking structure of the present invention provides a locking portion on the first mounting frame, and utilizes the extended state and retracted state of the locking portion to enable the connection assembly and the docking structure to be quickly assembled or disassembled. Specifically, when the connection assembly and the docking structure need to be assembled, the clamping portion is moved toward the side close to the first mounting frame, and after the clamping portion moves to the working position, the locking portion is controlled to be in an extended state to prevent the clamping portion from moving in the opposite direction to achieve the installation of the connection assembly and the docking structure; when the connection assembly and the docking structure need to be disassembled, the locking portion is controlled to be in a retracted state to move the clamping portion toward the side away from the first mounting frame, thereby achieving the separation of the connection assembly and the docking structure.

[0021] The present invention can not only realize modular assembly of the docking structure and the connecting component, but also realize rapid assembly and disassembly of the docking structure and the connecting component only through the cooperation of the locking part and the clamping part, and has a simple structure and convenient operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0023] Figure 1 This is a schematic diagram of the use state of the pole climbing robot according to an embodiment of the present invention;

[0024] Figure 2 yes Figure 1 A top view of

[0025] Figure 3 The structure of the quick docking device of the embodiment of the present invention is shown in FIG. Figure 1 ;

[0026] Figure 4 The structure of the quick docking device of the embodiment of the present invention is shown in FIG. Figure 2 ;

[0027] Figure 5 yes Figure 4 Schematic diagram of the structure of the connection between the middle docking structure and the connection component;

[0028] Figure 6 is a side view of a quick docking device according to an embodiment of the present invention;

[0029] Figure 7 is a side view of the docking structure of an embodiment of the present invention;

[0030] Figure 8 yes Figure 7 A cross-sectional view of

[0031] Fig. 9 4 is a top view of a connection assembly according to an embodiment of the present invention.

[0032] In the figure:

[0033] 100-docking structure, 110-first mounting frame, 111-second mounting frame, 120-guide member, 130-guide groove, 140-lock body, 141-lock tongue, 150-connecting rod mechanism, 160-operating part, 200-connecting assembly, 210-connecting frame, 220-clamping part, 230-guide part, 240-reinforcement plate, 300-roller, 310-roller frame, 400-column. DETAILED DESCRIPTION

[0034] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0035] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0036] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0037] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0038] On the one hand, if Figure 3-4 As shown, an embodiment of the present invention provides a quick docking device, including multiple docking structures 100 and multiple connecting components 200. Adjacent connecting components 200 are connected through the docking structure 100, and after the docking structure 100 and the connecting component 200 are connected, a receiving space capable of accommodating the column 400 is formed.

[0039] The present invention forms an accommodating space for accommodating a column 400 by surrounding a plurality of docking structures 100 and a plurality of connecting components 200. The structure is simple and the docking space can be adapted to columns 400 of different sizes by changing the number of docking structures 100 and connecting components 200, thereby realizing modular assembly of the docking device, facilitating maintenance and transportation, and effectively reducing the cost of use.

[0040] In some embodiments of the present invention, the docking structure 100 includes a first mounting frame 110 and a locking portion connected to the first mounting frame 110 , and at least one end of the docking structure 100 is connected to the connection assembly 200 via the locking portion.

[0041] It should be noted that in the present invention, one end of the docking structure 100 is connected to the connecting component 200 via a locking portion, and the other end is fixedly connected to the connecting component 200, or both ends of the docking structure 100 are connected to the connecting component 200 via a locking portion, wherein the fixed connection includes but is not limited to welding, screw connection, etc.

[0042] When one end of the docking structure 100 is connected to the connecting assembly 200 through a locking portion and the other end is fixedly connected to the connecting assembly 200, one docking structure 100 and one locking portion form a docking module, and the movable end of the docking structure 100 in one docking module is locked and connected with the connecting assembly 200 of another docking module, so as to realize the assembly of multiple docking modules, thereby forming an accommodation space capable of accommodating the column 400. In this connection mode, since the docking structure 100 and the connecting assembly 200 are fixedly connected, the docking device as a whole can not only realize rapid assembly, but also have better stability.

[0043] When both ends of the docking structure 100 are connected to the connecting assembly 200 through the locking part, the docking structure 100 and the connecting assembly 200 are two independent components that can be stored separately. In this connection mode, since both ends of the docking structure 100 and the connecting assembly 200 are locked, the modularization is more obvious. When one of the docking structures 100 or the connecting assembly 200 needs to be replaced, it will not affect the other structures. It can be quickly assembled at a lower cost and more convenient for maintenance.

[0044] In some embodiments of the present invention, Figure 5-6 As shown, the docking structure 100 also includes a second mounting frame 111, a connecting rod mechanism 150 and an operating part 160. The second mounting frame 111 is installed obliquely or vertically on the surface of the first mounting frame 110 close to the column, or the second mounting frame 111 is installed obliquely or vertically on the surface of the first mounting frame 110 close to the clamping part 220. The transmission part of the connecting rod mechanism 150 is movably connected to the first mounting frame 110, and the locking part is connected to the transmission part of the connecting rod mechanism 150.

[0045] Optionally, the locking portion includes a lock body 140 and a lock buckle 141, the lock body 140 is fixed to the first mounting frame 110, and the lock buckle 141 is movably connected to the lock body 140 through a connecting rod mechanism 150. Under the action of the connecting rod mechanism, the lock buckle 141 has an extended state and a retracted state relative to the lock body 140.

[0046] Optionally, the connecting rod mechanism 150 can be directly connected to the lock buckle 141, and the movement of the connecting rod mechanism 150 is controlled by the operating part 160, and then the connecting rod mechanism 150 drives the lock buckle 141 to extend or retract relative to the lock body 140 to achieve the clamping or separation of the clamping part 220; or the connecting rod structure 150 can be connected to the lock buckle 141 through an elastic component. When the docking mechanism 100 and the connecting component 200 need to be assembled together, the lock buckle 141 can lock the clamping part 220 by simply pushing the clamping part 220. When the docking mechanism 100 and the connecting component 200 need to be separated, the movement of the connecting rod mechanism 150 is controlled by the operating part 160, and then the connecting rod mechanism 150 drives the lock buckle 141 to retract relative to the lock body 140, that is, the separation of the clamping part 220 relative to the locking part is achieved.

[0047] It should be noted that when the docking mechanism 100 and the connecting component 200 need to be assembled together, the clamping portion 220 is moved toward the side close to the first mounting frame 110. After the clamping portion 220 moves to the working position, the locking portion is in an extended state to prevent the clamping portion from moving in the opposite direction to achieve the installation of the connecting component 200 and the docking structure 100; when the connecting component 200 and the docking structure 100 need to be disassembled, the operating portion 160 is pulled, and the connecting rod mechanism 150 drives the locking portion to be in a retracted state through the action of the connecting rod mechanism 150, so that the clamping portion 220 moves toward the side away from the first mounting frame 110, that is, the connection component 200 and the docking structure 100 are separated.

[0048] In some embodiments of the present invention, the locking portion includes a lock body 140, a lock buckle 141 and an electromagnetic element. The lock body 140 is fixed to the first mounting frame 100, and the lock buckle 141 is movably connected to the lock body 140 through the electromagnetic element. Under the adsorption force or repulsion force of the electromagnetic element, the lock buckle 141 has an extended state and a retracted state relative to the lock body 140.

[0049] It can be understood that, relative to the lock buckle 141, the electromagnetic element has an adsorption state or a repulsion state. When the electromagnetic element is in the adsorption state, the lock buckle 141 is in a retracted state relative to the lock body 140. At this time, the clamping part 220 can be moved in any direction. When the electromagnetic element is in the repulsion state, the lock buckle 141 is in an extended state relative to the lock body 140. When the clamping part 220 is in the working position, the assembly of the docking mechanism 100 and the connecting component 200 is achieved by controlling the electromagnetic element to be in the repulsion state.

[0050] It should be noted that there may be one, two or more locking parts, which may be adjusted according to the size of the link frame, and there is no special limitation on this.

[0051] In some embodiments of the present invention, Fig. 9 As shown, the connection assembly 200 further includes a connection frame 210 , at least one end of which is provided with a clamping portion 220 , and when the connection assembly 200 and the docking structure 100 are in a connected state, the clamping portion 220 is clamped with the docking structure 100 .

[0052] It can be understood that in order to make the connection of each docking module more stable and reduce the cost, it is preferred that the connection frame 210 is two parallel connection rods, the two ends of the connection rods are connected to the ends of the docking structure 100, and the two connection rods are respectively arranged in parallel on the upper and lower sides of the docking structure 100. In addition, based on the above two different ways of connecting the two ends of the docking structure 100 and the connection assembly 200, when one end of the docking structure 100 is connected to the connection assembly 200 through the locking portion and the other end is fixedly connected to the connection assembly 200, the clamping portion 220 is only provided at one end of the connection frame 210, and when both ends of the docking structure 100 are connected to the connection assembly 200 through the locking portion, both ends of the connection frame 210 are provided with the clamping portion 220.

[0053] Optionally, the connecting assembly 200 further includes a guide portion 230, two ends of the clamping portion 220 are respectively fixed to two sides of the end of the connecting frame 210, and the clamping portion 220 matches the locking portion; the guide portion 230 is arranged in the extending direction of the clamping portion 220 and the guide portion 230 is protrudingly arranged on the outer side of the connecting frame 210;

[0054] It should be noted that the clamping portion 220 is a rod-shaped structure, and the two ends of the clamping portion 220 are respectively fixed to the inner sides of the two connecting rods, which not only makes the connection assembly 200 more stable as a whole, but also can achieve the fixation of the locking portion and the clamping portion 220. In addition, the guide portion 230 protrudes and is symmetrically arranged on the outer sides of the two connecting rods, and the guide portion 230 can be used to achieve rapid positioning of the connection assembly 200 and the docking structure 100.

[0055] Optionally, the docking structure 100 further includes a guide member 120, which is disposed at both ends of the first mounting frame 110, and the guide member 120 is provided with a guide groove 130 matching the guide portion 230. Preferably, the cross-sectional area of ​​the guide groove 130 gradually decreases from the clamping portion to the first mounting frame, so that the clamping of the guide portion 230 and the guide groove 130 is more stable.

[0056] It is understandable that when the docking mechanism 100 and the connecting assembly 200 need to be assembled together, the guide portion 230 moves along the guide groove 130 to one side of the docking structure 100, and the cooperation between the guide portion 230 and the guide groove 130 can make the docking structure 100 quickly reach the connection position of the working state, and the clamping portion 220 also moves to one side of the docking structure 100. When the guide portion 230 abuts against the guide groove 130, the clamping portion 220 reaches the predetermined working position, and the lock 141 pops out after the clamping portion 220 moves into place, preventing the clamping portion 220 from moving in the opposite direction, thereby forming a quick connection. When the docking mechanism and the connecting assembly 200 need to be separated, the lock 141 is retracted through the action of the controller or the connecting rod mechanism 150 and the operating portion 160, and the guide portion 230 of the connecting assembly 200 moves out along the guide groove 130, and the clamping portion 220 moves in the opposite direction of the locking portion, thereby achieving quick separation.

[0057] Optionally, a reinforcement plate 240 may also be provided in the middle of the connecting frame 210, and the two sides of the reinforcement plate 240 are respectively fixed to the two connecting rods, and the two ends of the reinforcement plate 240 extend to the two ends of the connecting rods respectively, and a gap is left between the end of the reinforcement plate 240 and the clamping part 220 so that the lock tongue of the lock body 140 can be fixed to the outside of the clamping part 220.

[0058] On the other hand, Figure 1-2 As shown, the embodiment of the present invention further provides a pole climbing robot including any of the above-mentioned quick docking devices, the pole climbing robot also includes a roller 300 frame and a roller 300 mounted on the roller 300 frame, the roller 300 frame is connected to the first mounting frame 110, and the roller 300 drives the climbing, driving the entire device to climb along the column 400. Since the pole climbing robot is a structure including the above-mentioned quick docking device, the pole climbing robot has all the features and effects of the above-mentioned quick docking device, which will not be further elaborated here.

[0059] In summary, the quick docking device of the present invention has a simple structure, which can not only ensure the stability of the overall structural connection, but also realize the rapid assembly of the connection components and the docking structure.

[0060] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A quick docking device, characterized in that: include: A connecting assembly, the connecting assembly comprising a clamping portion; A docking structure, through which the adjacent connection components are connected to form an accommodating space capable of accommodating a column; Wherein, the docking structure includes a first mounting frame and a locking portion installed on the first mounting frame, the locking portion has an extended state and a retracted state, when the locking portion is in the extended state, the clamping portion can be fixed to a side of the locking portion close to the first mounting frame to achieve the installation of the connecting component and the docking structure; when the locking portion is in the retracted state, the clamping portion can move toward a side away from the first mounting frame to achieve the separation of the connecting component and the docking structure.

2. The quick docking device according to claim 1, characterized in that: The docking structure also includes a second mounting frame, a connecting rod mechanism and an operating part. The second mounting frame is mounted on the first mounting frame, the end of the connecting rod mechanism is connected to the operating part, the transmission part of the connecting rod mechanism is movably connected to the first mounting frame, and the locking part is connected to the transmission part of the connecting rod mechanism.

3. The quick docking device according to claim 2, characterized in that: The locking portion includes a lock body and a lock buckle, the lock body is fixed to the first mounting frame, the lock buckle is movably connected to the lock body through the connecting rod mechanism, and under the action of the connecting rod mechanism, the lock buckle has an extended state and a retracted state relative to the lock body.

4. The quick docking device according to claim 1, characterized in that: The locking portion includes a lock body, a lock tongue and an electromagnetic element. The lock body is fixed to the first mounting frame. The lock buckle is movably connected to the lock body through the electromagnetic element. Under the adsorption force or repulsion force of the electromagnetic element, the lock buckle has an extended state and a retracted state relative to the lock body.

5. The quick docking device according to claim 1, characterized in that: The connection assembly further comprises a connection frame, at least one end of which is provided with the clamping portion, and when the connection assembly and the docking structure are in a connected state, the clamping portion is clamped with the docking structure.

6. The quick docking device according to claim 5, characterized in that: The connecting assembly further comprises a guide portion, which is arranged in the extending direction of the clamping portion and protrudes outwardly from the outer side of the connecting frame; The docking structure further comprises guide members, which are arranged at two ends of the first mounting frame and are provided with guide grooves matching the guide portions.

7. The quick docking device according to claim 6, characterized in that: In a direction from the clamping portion to the first mounting bracket, the cross-sectional area of ​​the guide groove gradually decreases.

8. A pole climbing robot, characterized in that: The invention comprises the quick docking device according to any one of claims 1 to 7.

9. The pole-climbing robot according to claim 8, characterized in that: It also includes a roller frame and a roller installed on the roller frame, and the roller frame is connected to the first mounting frame.

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