Climbing arm rotating connection structure and climbing arm

Abstract

The invention provides a climbing arm rotating connection structure and a climbing arm, and the climbing arm rotating connection structure comprises a rotating assembly which comprises a base connected with a device body and a movable seat connected with an adjustable climbing arm; the rotating part is arranged between the movable seat and the base, so that when the movable seat and the base rotate relatively, the adjustable climbing arm and the device body rotate relatively correspondingly; the limiting device is arranged between the movable seat and the base or between the base and the adjustable climbing arm, and is at least used for limiting the relative rotation angle between the adjustable climbing arm and the device body; the climbing stability and operation reliability of the wall surface operation robot can be improved, potential safety hazards are reduced, and the operation efficiency of the wall surface operation robot is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of wall-climbing robot technology, specifically to a climbing arm rotating connection structure and a climbing arm. Background Technology

[0002] For cleaning robots capable of operating on high-rise glass curtain walls, during operation, the suction devices on the robot's climbing arms adhere to the glass curtain wall to secure the robot and achieve stable operation. However, in actual operation, cleaning robots typically need to perform continuous cleaning work on glass curtain walls, requiring them to climb and move along the surface. Therefore, technically, the design often employs multiple climbing arms that move alternately to achieve this climbing and movement.

[0003] However, in existing robotic systems, during the alternating climbing phase, the robot body needs to briefly switch between two or more sets of climbing arms. If there is no angular swing redundancy between the climbing arms and the robot body, there may be rigidity deviations in the angle between different sets of climbing arms and the robot body. This can cause the robot body to jam when switching sliding paths (such as sudden angle changes at the connection points), disrupting the continuity of the movement. This affects the stability and reliability of the climbing, and may also pose safety hazards. Summary of the Invention

[0004] To address the shortcomings of existing technologies, one of the objectives of this invention is to propose a climbing arm rotation connection structure that can effectively improve the problem of lack of freedom of movement in the connection between the existing climbing arm and the device body, which leads to the disruption of motion continuity.

[0005] The technical solution of this invention is implemented as follows: A climbing arm rotating connection structure is applied to a wall-mounted robot, the wall-mounted robot including a device body and a plurality of adjustable climbing arms disposed on the device body, the connection structure including: The rotating assembly includes a base connected to the device body and a movable seat connected to the adjustable climbing arm; A rotating component is disposed between the movable seat and the base so that when the movable seat and the base rotate relative to each other, a corresponding relative rotation occurs between the adjustable climbing arm and the device body. A limiting device is provided between the movable seat and the base, or between the base and the adjustable climbing arm, for at least limiting the relative rotation angle between the adjustable climbing arm and the device body.

[0006] Preferably, the rotating component is a bearing, the base is sleeved on the outside of the bearing, and the movable seat has a shaft at the corresponding position of the inner ring of the bearing. The shaft extends into the inner ring of the bearing so that the movable seat can rotate relative to the base through the bearing.

[0007] Preferably, the base and the movable seat are cylindrical in shape, and the cylindrical openings of the base and the movable seat are arranged opposite to each other. The rotating component is a torsion spring. The lower part of the torsion spring is located on the base and the lower end of the torsion spring is fixedly connected to the base. The upper part of the torsion spring is located on the movable seat and the upper end of the torsion spring is connected to the movable seat. The limiting device includes a coaxial limiting device disposed between the movable seat and the base, so that the movable seat can rotate relative to the base through the torsion spring.

[0008] Preferably, the base is slidably connected to the inner side of the device body, and the rotation axis of the rotating component is located in the central area of ​​the adjustable climbing arm.

[0009] Preferably, the limiting device includes a connecting seat disposed between the movable seat and the base, the connecting seat including a placement surface disposed relative to the movable seat and a limiting member disposed on the placement surface.

[0010] Preferably, the connecting seat includes a through hole for the shaft to pass through, and a connecting arm extending from the outer wall of the through hole to the side of the adjustable climbing arm. The limiting member is disposed at the connecting arm and is connected between the connecting seat and the adjustable climbing arm.

[0011] Preferably, the limiting member includes a housing and an elastic member disposed within the housing. One end of the elastic member is fixedly connected to the housing, and the other end of the elastic member at least abuts against the adjustable climbing arm. The elastic member is used to provide a restoring force when the adjustable climbing arm moves along the linear motion mechanism.

[0012] Preferably, the elastic element inside the housing includes at least an upper spring and a lower spring arranged side by side, one end of the upper spring and the lower spring abutting against the bottom surface of the housing, and the other end of the upper spring and the lower spring abutting against the adjustable climbing arm at least through an ejector.

[0013] Another object of the present invention is to provide a working robot, wherein the working robot is connected to the device body of the wall working robot through the climbing arm rotation connection structure described in any of the above claims.

[0014] Preferably, the climbing arm further includes a first motor mounted on the rotating assembly, and a first gear driven by the first motor, wherein the climbing arm is provided with a longitudinal rack meshing with the first gear at a corresponding position of the first motor.

[0015] Compared with the prior art, the present invention has the following advantages: When the climbing arm rotation connection structure of this embodiment is applied to a wall-mounted robot, by setting a rotating component between the base connected to the device body and the movable seat connected to the adjustable climbing arm, a flexible relative rotation capability can be provided between the adjustable climbing arm and the device body. This effectively improves the problem of insufficient freedom of movement in the existing connection between the climbing arm and the device body. During the alternating climbing action switching phase, this relative rotation capability can compensate for possible rigidity angle deviations between different sets of adjustable climbing arms and the device body, preventing jamming due to sudden angle changes at the connection point when the device body switches sliding paths, ensuring action continuity, improving climbing stability and operational reliability, and reducing safety hazards. In addition, the limiting device set between the movable seat and the base or between the movable seat and the adjustable climbing arm can accurately limit the relative rotation angle between the adjustable climbing arm and the device body, avoiding the climbing arm from exceeding its working range or interfering with other components due to excessive rotation angle, further ensuring the operational safety and reliability of the wall-mounted robot during continuous operation and alternating climbing. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the connection between the rotating connection structure of the climbing arm and the strip-shaped stroke component of the adjustable climbing arm in this embodiment; Figure 2 for Figure 1 A stereoscopic view from another perspective; Figure 3 for Figure 1 Exploded view; Figure 4 This is a perspective view of the rotating connection structure of the climbing arm in this embodiment. The base, bearing seat, bearing and limiting component are hidden in the figure. Figure 5 This is a schematic diagram of the connection between the rotating connection structure of the climbing arm and the adjustable climbing arm and the device body in this embodiment. The diagram also shows the translational climbing arm. Figure 6 for Figure 5 Enlarged view of point A. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," "third," and "fourth," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0020] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] First embodiment: See Figures 1 to 6 A climbing arm rotation connection structure is applied to a wall-mounted robot. The wall-mounted robot includes a device body 9 and a plurality of translational climbing arms 103 and a plurality of adjustable climbing arms 104 disposed on the device body 9. The connection structure includes: The rotating assembly includes a base 1 connected to the device body 9 and a movable seat 3 connected to the adjustable climbing arm; A rotating component is provided between the movable seat 3 and the base 1 so that when the movable seat 3 and the base 1 rotate relative to each other, the adjustable climbing arm and the device body 9 rotate relative to each other. A limiting device is provided between the movable seat 3 and the base 1, or between the base 1 and the adjustable climbing arm, for at least limiting the relative rotation angle between the adjustable climbing arm and the device body 9.

[0022] This invention provides a base 1 connected to the device body 9 and a movable seat 3 connected to the adjustable climbing arm, with a rotating component between the movable seat 3 and the base 1. This allows for flexible relative rotation between the adjustable climbing arm and the device body 9. To prevent excessive rotation of the adjustable climbing arm and interference with other parts of the wall-mounted robot, this invention also provides a limiting device to at least limit the relative rotation angle between the adjustable climbing arm and the device body 9. This ensures freedom of movement while preventing collisions between the adjustable climbing arm and other parts during rotation, thus avoiding potential risks. The maximum value of the relative rotation angle can be determined based on the type of work or the size and weight of the device body 9; preferably, the maximum rotation angle is between 3° and 15°.

[0023] In one specific embodiment, the rotating component is a bearing 4, the base 1 is sleeved on the outside of the bearing 4, and the movable seat 3 has a shaft 31 formed at a corresponding position on the inner ring of the bearing 4. The shaft 31 extends into the inner ring of the bearing 4, so that the movable seat 3 can rotate relative to the base 1 through the bearing 4. The structure of the shaft 31 can ensure that the adjustable climbing arm is confined to the rotation axis of the rotating component, preventing the adjustable climbing arm from horizontally displacing relative to the base 1 when the device body 9 shakes, and also helps to ensure the smooth rotation of the adjustable climbing arm.

[0024] Specifically, in this embodiment, the movable seat 3 may include a plate-shaped body 32, with the shaft 31 formed between the plate-shaped body 32 and the bottom. The adjustable climbing arm includes a strip-shaped travel member 5, with a guide groove 51 and a longitudinal rack 52 arranged in parallel along the length direction. The plate-shaped body 32 is provided with a first motor seat 321, a first gear 322, and a first sliding member 323. The first motor seat 321 is used to drive the first gear 322 that meshes with the longitudinal rack 52. The first sliding member 323 is embedded in the guide groove 51 and can slide relative to the guide groove 51.

[0025] Specifically, a first support 33 is also formed on the plate-shaped body 32. The side of the first support 33 opposite to the guide groove 51 is used to fix the first sliding member 323. The first sliding member 323 is embedded in the guide groove 51 and can slide relative to it, forming a cooperative relationship with the gear and rack drive structure. This not only precisely limits the movement trajectory of the component through the guide groove 51 to prevent deviation, but also reduces the frictional resistance when the component moves, making the overall movement smoother and more stable, effectively improving the reliability and stability of the operation of the movable seat 3 and the adjustable climbing arm. Preferably, the first sliding member 323 in this embodiment can be a pulley system. Compared with the slider, the pulley system has the advantages of being lightweight and sliding smoothly, further improving the reliability and stability of the component operation while reducing the weight of the adjustable climbing arm.

[0026] Preferably, a bearing seat 6 is integrally formed in the middle of the base 1, and the outer ring of the bearing 4 is fixedly embedded in the bearing seat 6. The shaft 31 of the movable seat 3 is inserted into the inner ring of the bearing 4 with an interference fit. The rotation axis of the bearing seat 6 is located in the central area of ​​the adjustable climbing arm. The center of the adjustable climbing arm can be the center of mass or the geometric center. In this embodiment, by placing the rotation axis of the rotating component in the central area of ​​the adjustable climbing arm, it is beneficial to further ensure the smooth rotation of the adjustable climbing arm and avoid the risk of collision between the adjustable climbing arm and other parts during the rotation process.

[0027] Preferably, the limiting device in this embodiment includes a connecting seat 2 disposed between the movable seat 3 and the base 1. The connecting seat 2 includes a placement surface 21 disposed relative to the movable seat 3 and a limiting member disposed on the placement surface 21. Specifically, the connecting seat 2 includes a through hole 23 through which the shaft 31 passes, and a connecting arm 22 extending from the outer wall of the through hole 23 to the side of the adjustable climbing arm. The limiting member is disposed at the connecting arm 22 and connects the connecting seat 2 and the adjustable climbing arm. In this embodiment, by disposing the limiting member at the placement surface 21 and at the connecting arm 22 extending from the outer wall of the through hole 23 to the side of the adjustable climbing arm 104, the elastic member 8 can abut against the side groove opened on the side of the movable seat 3 from the side, so that the restoring force is applied efficiently from the side, thus optimizing the lever arm.

[0028] As a preferred option rather than a limitation, the limiting member includes a housing 7 and an elastic member 8 disposed within the housing 7. One end of the elastic member 8 is fixedly connected to the housing 7, and the other end of the elastic member 8 at least abuts against the adjustable climbing arm. The elastic member 8 is used to provide a restoring force when the adjustable climbing arm rotates along the rotating member.

[0029] Furthermore, in this embodiment, the base 1 is slidably connected to the inner side of the device body 9. Specifically, the device body 9 has a slide rail 91 formed along its length, and the connecting seat 2 also has a slider 24, the position of which corresponds to the position of the slide rail 91. The corresponding engagement structure of the slider 24 and the slide rail 91 allows for a tighter and more flexible connection between the connecting seat 3 and the device body 9, and the base 1 and the connecting seat 2 can slide against the inner side of the device body 9 under the constraint of the slider 24 and the slide rail 91.

[0030] The aforementioned structure provides the adjustable climbing arm with one degree of freedom for relative rotation and one degree of freedom for lateral movement along the device body 9. Therefore, when the device body 9 oscillates slightly due to operation or other working conditions, the rotational and lateral degrees of freedom between the device body 9 and the adjustable climbing arm allow for rotation and relative movement at a certain angle. This prevents the slight oscillation of the device body 9 from affecting the rotation or movement of the adjustable climbing arm, thereby reducing the impact of the device body 9 on the oscillation of the adjustable climbing arm. This avoids the problem of the oscillating device body 9 pulling or twisting the adsorption component, improving the adsorption stability of the adsorption component on the adjustable climbing arm for the glass curtain wall, and thus ensuring the working efficiency of the robot.

[0031] The elastic element 8 is installed between the movable seat 3 and the connecting seat 2. The elastic element 8 undergoes elastic deformation as the connecting seat 2 rotates relative to the movable seat 3. When the device body 9 swings slightly, the movable seat 3 on the device body 9 will rotate relative to the connecting seat 2. During the relative rotation, the elastic element 8 undergoes elastic deformation, converting the kinetic energy of rotation into the elastic potential energy of the elastic element 8. When the factors causing the slight swing of the device body 9 are eliminated, the elastic potential energy of the elastic element 8 is released, so as to push the movable seat 3 and the connecting seat 2 to rotate in opposite directions, so as to achieve the purpose of resetting the device body 9 and the adjustable climbing arm to the normal assembly state.

[0032] Preferably, the elastic elements within the housing 7 include at least an upper spring and a lower spring arranged side by side. One end of each upper and lower spring rests against the bottom surface of the housing 7, and the other end of each upper and lower spring abuts against the adjustable climbing arm via an ejector 10. The ejector 10 includes a push rod 101 driven by the elastic element 8, and a connecting rod 102 located at the end of the push rod 101. The connecting rod 102 abuts against the adjustable climbing arm. The end face shape of the connecting rod 102 corresponds to the shape of the contact surface 35 of the movable seat. Rolling bearings 102a are installed at both ends of the connecting rod 102. The contact surface 35 is a side groove opened on the side of the movable seat 3. The end face shape of the connecting rod 102 corresponds to the shape of the side groove, and the rolling bearings 102a abut against the groove wall of the side groove. The length of the connecting rod 102 is greater than the width of the housing 7, and the two rolling bearings 102a are located on both sides of the width of the device body 9. This design allows the upper and lower springs to exert a resisting force on both sides of the movable seat 3 along its rotation center. That is, both sides of the movable seat located at the rotation center of the base 1 are resisted by the connecting rod 102. In this way, no matter which direction the base 1 rotates relative to the movable seat 3 (clockwise or counterclockwise), a portion of the springs in the housing 7 will always be compressed and elastically deformed. When the working conditions affecting the swing of the device body 9 disappear, this compressed spring will release its elasticity. The potential energy drives the base 1 and the movable seat 3 to return to the stable assembly state. That is to say, no matter how the base 1 and the movable seat 3 rotate relative to each other, after the swing factor disappears, both can be reset. At the same time, a part of the spring is always compressed, which also shows that no matter how the base 1 and the movable seat 3 rotate relative to each other, the upper spring and the lower spring can convert the kinetic energy of mutual rotation into elastic potential energy by compressing the spring. Through the damping effect of the spring, the amplitude of relative rotation can be reduced. Therefore, the connecting rod 102 can play a role in ensuring the reset stability and swing reduction stability of the adjustable climbing arm.

[0033] Second embodiment: The purpose of this invention is to provide another climbing arm rotating connection structure. Unlike the first embodiment described above, the connecting seat includes a placement surface disposed relative to the movable seat and a limiting member disposed on the placement surface. The limiting member includes a plurality of protruding stops located on the placement surface. The protruding stops are disposed in the rotation direction of the movable seat or the strip-shaped travel member, and all the protruding stops are located on the same circumference centered on the rotation axis of the rotating assembly.

[0034] This embodiment uses multiple protruding stops on the placement surface to form a limiting device for limiting the rotation angle of the adjustable climbing arm. While providing freedom of movement, it avoids the adjustable climbing arm from colliding with other parts during rotation, thus preventing potential risks.

[0035] Third embodiment: Another object of the present invention is to provide another climbing arm rotating connection structure, which differs from the first embodiment described above in that the base and the movable seat are cylindrical in shape, and the cylindrical openings of the base and the movable seat are arranged opposite to each other. The rotating component is a torsion spring, the lower part of the torsion spring is located on the base and the lower end of the torsion spring is fixedly connected to the base, the upper part of the torsion spring is located on the movable seat and the upper end of the torsion spring is connected to the movable seat, and the limiting device includes a coaxial limiting device disposed between the movable seat and the base, so that the movable seat can rotate relative to the base through the torsion spring.

[0036] In this embodiment, the base includes a first annular surface that contacts the movable seat, and the movable seat includes a second annular surface corresponding to the first annular surface. The first and second annular surfaces are disposed opposite to each other, forming a cylindrical opening in the middle. The coaxial limiting device includes an annular groove formed in the middle of the first annular surface, and a hemispherical protrusion formed in the middle of the second annular surface, corresponding to the annular groove. The hemispherical protrusion is located on the circumference of the annular groove, so that when the hemispherical protrusion slides within the annular groove, a coaxial sliding limit is formed between the movable seat and the base.

[0037] As an improvement rather than a limitation, the movable seat in this embodiment further includes a stop block disposed in an annular groove. The number of the stop blocks is several, which are used to limit the relative rotation angle between the adjustable climbing arm and the device body.

[0038] This embodiment provides a torsion spring, with its lower part located on the base and fixedly connected to the base, and its upper part located on the movable seat and connected to the movable seat. This allows for relative rotation between the base and the movable seat. Simultaneously, a coaxial limiting device is formed by the annular groove on the first annular surface of the base and the hemispherical protrusion on the second annular surface of the movable seat, preventing lateral separation between the base and the movable seat and improving structural strength. Furthermore, by setting a stop within the annular groove, the relative rotation angle between the adjustable climbing arm and the device body is further limited. This provides freedom of movement while preventing the adjustable climbing arm from colliding with other parts during rotation, thus avoiding potential risks.

[0039] Fourth embodiment: The present invention provides a working robot, which is connected to the device body of the wall working robot through the climbing arm rotation connection structure described in any of the above embodiments.

[0040] Preferably, the climbing arm further includes a first motor mounted on the rotating assembly, and a first gear driven by the first motor, wherein the climbing arm is provided with a longitudinal rack meshing with the first gear at a corresponding position of the first motor.

[0041] In summary, when the climbing arm rotation connection structure of this embodiment is applied to a wall-mounted robot, by setting a rotating component between the base connected to the device body and the movable seat connected to the adjustable climbing arm, a flexible relative rotation capability can be provided between the adjustable climbing arm and the device body. This effectively improves the problem of insufficient freedom of movement in the existing connection between the climbing arm and the device body. During the alternating climbing action switching phase, this relative rotation capability can compensate for possible rigidity angle deviations between different sets of adjustable climbing arms and the device body, preventing jamming due to sudden angle changes at the connection point when the device body switches sliding paths, ensuring action continuity, improving climbing stability and operational reliability, and reducing safety hazards. In addition, the limiting device set between the movable seat and the base or between the movable seat and the adjustable climbing arm can accurately limit the relative rotation angle between the adjustable climbing arm and the device body, avoiding the climbing arm from exceeding its working range or interfering with other components due to excessive rotation angle, further ensuring the operational safety and reliability of the wall-mounted robot during continuous operation and alternating climbing.

[0042] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A climbing arm rotating connection structure, characterized in that, An application to wall-mounted robots, the wall-mounted robot comprising a device body and several adjustable climbing arms mounted on the device body, the connection structure comprising: The rotating assembly includes a base connected to the device body and a movable seat connected to the adjustable climbing arm; A rotating component is disposed between the movable seat and the base so that when the movable seat and the base rotate relative to each other, a corresponding relative rotation occurs between the adjustable climbing arm and the device body. A limiting device is provided between the movable seat and the base, or between the base and the adjustable climbing arm, for at least limiting the relative rotation angle between the adjustable climbing arm and the device body.

2. The climbing arm rotating connection structure according to claim 1, characterized in that, The rotating component is a bearing, the base is sleeved on the outside of the bearing, and the movable seat has a shaft at the corresponding position of the inner ring of the bearing. The shaft extends into the inner ring of the bearing so that the movable seat can rotate relative to the base through the bearing.

3. The climbing arm rotating connection structure according to claim 2, characterized in that, The base is slidably connected to the inner side of the device body, and the rotation axis of the rotating component is located in the central area of ​​the adjustable climbing arm.

4. The climbing arm rotating connection structure according to claim 3, characterized in that, The limiting device includes a connecting seat disposed between the movable seat and the base, the connecting seat including a placement surface disposed relative to the movable seat and a limiting member disposed on the placement surface.

5. The climbing arm rotating connection structure according to claim 4, characterized in that, The connecting seat includes a through hole for the shaft to pass through, and a connecting arm extending from the outer wall of the through hole to the side of the adjustable climbing arm. The limiting member is located at the connecting arm and is connected between the connecting seat and the adjustable climbing arm.

6. The climbing arm rotating connection structure according to claim 5, characterized in that, The limiting component includes a housing and an elastic element disposed within the housing. One end of the elastic element is fixedly connected to the housing, and the other end of the elastic element at least abuts against the adjustable climbing arm. The elastic element is used to provide a restoring force when the adjustable climbing arm moves along the linear motion mechanism.

7. The climbing arm rotating connection structure according to claim 6, characterized in that, The elastic elements inside the housing include at least an upper spring and a lower spring arranged side by side. One end of the upper spring and the lower spring abuts against the bottom surface of the housing, and the other end of the upper spring and the lower spring abuts against the adjustable climbing arm at least through an ejector.

8. The climbing arm rotating connection structure according to claim 1, characterized in that, The base and the movable seat are cylindrical in shape, and their cylindrical openings are arranged opposite to each other. The rotating component is a torsion spring. The lower part of the torsion spring is located on the base and its lower end is fixedly connected to the base. The upper part of the torsion spring is located on the movable seat and its upper end is connected to the movable seat. The limiting device includes a coaxial limiting device disposed between the movable seat and the base, so that the movable seat can rotate relative to the base through the torsion spring.

9. A climbing arm, characterized in that, The climbing arm is connected to the device body of the wall-working robot via the rotating connection structure as described in any one of claims 1-8.

10. The climbing arm according to claim 9, characterized in that, The climbing arm also includes a first motor mounted on the rotating assembly, and a first gear driven by the first motor. The climbing arm is provided with a longitudinal rack that meshes with the first gear at the corresponding position of the first motor.

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