A climbing arm rotating connection structure and a climbing arm

Abstract

The application provides a climbing arm rotating connection structure and a climbing arm. The climbing arm rotating connection structure comprises a rotating assembly, a base connected with a device body, a movable seat connected with an adjustable climbing arm, a rotating part arranged between the movable seat and the base, and a limiting device arranged between the movable seat and the base or between the base and the adjustable climbing arm and used for limiting the relative rotating angle between the adjustable climbing arm and the device body. The application can improve the climbing stability and operation reliability of the wall operation robot, reduce the hidden danger, and ensure the operation efficiency of the wall operation robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wall climbing robots, in particular to a climbing arm rotating connection structure and a climbing arm. BACKGROUND

[0002] For a work robot capable of performing cleaning work on a high-rise glass curtain wall, in its work process, the suction accessory on the climbing arm of the work robot will be adsorbed on the glass curtain wall to fix the work robot to achieve the purpose of stable work. However, in actual work, the work robot generally needs to perform continuous cleaning work on the glass curtain wall, which makes the work robot need to achieve the purpose of climbing movement on the glass curtain wall, so in technology, it is often designed that multiple climbing arms are switched by alternating movement to achieve the purpose of climbing movement of the work robot.

[0003] However, in the action switching stage of the existing work robot, the device body needs to be temporarily switched between two or more groups of climbing arms. If each group of climbing arms and the device body have no angle swing redundancy, the angle between different groups of climbing arms and the device body may have a rigid deviation, which causes the device body to be stuck when switching the sliding path (such as an angle mutation at the connection), destroys the action continuity, affects the stability of climbing and the work reliability, and may also cause safety hazards. SUMMARY

[0004] In view of the deficiencies of the prior art, one of the purposes of the present application is to provide a climbing arm rotating connection structure which can effectively improve the problem of destroying the action continuity caused by the lack of activity freedom of the connection between the existing climbing arm and the device body.

[0005] The technical solution of the present application is as follows:

[0006] A climbing arm rotating connection structure is applied to a wall work robot, the wall work robot comprises a device body and a plurality of adjustable climbing arms arranged on the device body, and the connection structure comprises:

[0007] A rotating assembly comprises a base connected with the device body and a movable seat connected with the adjustable climbing arm;

[0008] A rotating part is arranged between the movable seat and the base, so that when the movable seat and the base rotate relative to each other, the adjustable climbing arm and the device body rotate relative to each other correspondingly;

[0009] A limiting device is arranged between the movable seat and the base, or between the base and the adjustable climbing arm, and is used at least for limiting the relative rotation angle between the adjustable climbing arm and the device body.

[0010] Preferably, the rotating member is a bearing, the base is sleeved outside the bearing, and the movable seat is formed with a shaft body at a corresponding position of an inner ring of the bearing, the shaft body extends into the inner ring of the bearing, so that the movable seat can rotate relative to the base through the bearing.

[0011] Preferably, the base and the movable seat are in a cylindrical shape, and the cylindrical openings of the base and the movable seat are oppositely arranged, the rotating member is a torsion spring, the lower part of the torsion spring is located in the base, and the lower end of the torsion spring is fixedly connected with the base, the upper part of the torsion spring is located in the movable seat, and the upper end of the torsion spring is connected with the movable seat, and the limiting device comprises a coaxial limiting device arranged between the movable seat and the base, so that the movable seat can rotate relative to the base through the torsion spring.

[0012] Preferably, the base is slidably connected with the inner side of the device body, and the rotating shaft of the rotating assembly is located in the central region of the adjustable climbing arm.

[0013] Preferably, the limiting device comprises a connecting seat arranged between the movable seat and the base, the connecting seat comprises a placement surface arranged relative to the movable seat and a limiting member arranged on the placement surface.

[0014] Preferably, the connecting seat comprises a through hole through which the shaft body passes, and further comprises a connecting arm extending from the outer wall of the through hole to the side surface of the adjustable climbing arm, and the limiting member is arranged at the connecting arm and connected between the connecting seat and the adjustable climbing arm.

[0015] Preferably, the limiting member comprises a housing and an elastic member arranged in the housing, one end of the elastic member is fixedly connected with the housing, and the other end of the elastic member abuts against the adjustable climbing arm at least, and the elastic member is used to provide a restoring force when the adjustable climbing arm moves along the linear motion mechanism.

[0016] Preferably, the elastic member in the housing comprises 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 through an ejection member.

[0017] Another object of the present application is to provide a work robot connected with a device body of a wall work robot through the climbing arm rotating connection structure of any one of the above.

[0018] Preferably, the climbing arm further comprises a first motor arranged on the rotating assembly, and a first gear driven by the first motor, and the climbing arm is arranged with a longitudinal rack engaged with the first gear at a corresponding position of the first motor.

[0019] Compared with the prior art, the present application has the following advantages:

[0020] The climbing arm rotating connection structure of the embodiment can provide flexible relative rotating capability between the adjustable climbing arm and the device body, effectively improving the problem of lack of freedom of movement in the connection between the existing climbing arm and the device body. In the alternating climbing action switching stage, the relative rotating capability can compensate for the possible rigid angle deviation between different groups of adjustable climbing arms and the device body, prevent the device body from being stuck due to the sudden change of the angle at the connection when switching the sliding path, ensure the continuity of the action, improve the climbing stability and operation reliability, and reduce safety hazards. In addition, the limiting device arranged between the movable seat and the base or between the movable seat and the adjustable climbing arm can accurately limit the relative rotating angle between the adjustable climbing arm and the device body, avoid the climbing arm from exceeding the working range or interfering with other components due to the excessive rotating angle, and further ensure the running safety and reliability of the wall operation robot in the continuous operation and alternating climbing process. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0022] Figure 1 The structure diagram of the climbing arm rotating connection structure of the embodiment and the strip-shaped stroke member of the adjustable climbing arm;

[0023] Figure 2 The structure diagram of the climbing arm rotating connection structure of the embodiment and the strip-shaped stroke member of the adjustable climbing arm; Figure 1 Perspective view from another angle;

[0024] Figure 3 The exploded view of the climbing arm rotating connection structure of the embodiment; Figure 1 The exploded view of the climbing arm rotating connection structure of the embodiment;

[0025] Figure 4 The perspective view of the climbing arm rotating connection structure of the embodiment, in which the base, bearing seat, bearing and limiting member are hidden;

[0026] Figure 5 The structure diagram of the climbing arm rotating connection structure of the embodiment and the strip-shaped stroke member of the adjustable climbing arm;

[0027] Figure 6 The structure diagram of the climbing arm rotating connection structure of the embodiment and the strip-shaped stroke member of the adjustable climbing arm; Figure 5 The enlarged view of A in the structure diagram of the climbing arm rotating connection structure of the embodiment and the strip-shaped stroke member of the adjustable climbing arm; DETAILED DESCRIPTION

[0028] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0029] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", "fourth" and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0030] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0031] First embodiment:

[0032] Referring to Figures 1 to 6 A rotating connection structure of a climbing arm is applied to a wall working robot, the wall working robot comprises a device body 9 and a plurality of translation climbing arms 103 and a plurality of adjustable climbing arms 104 arranged on the device body 9, and the connection structure comprises:

[0033] A rotating assembly comprises a base 1 connected with the device body 9, and a movable seat 3 connected with the adjustable climbing arm;

[0034] A rotating part is arranged 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 correspondingly rotate relative to each other;

[0035] A limiting device is arranged between the movable seat 3 and the base 1, or between the base 1 and the adjustable climbing arm, and is used at least to limit the relative rotation angle between the adjustable climbing arm and the device body 9.

[0036] The embodiment of the present application provides the base 1 connected with the device body 9, the movable seat 3 connected with the adjustable climbing arm, and the rotating part arranged between the movable seat 3 and the base 1, so that flexible relative rotation capability is provided between the adjustable climbing arm and the device body 9. In order to avoid the interference between the adjustable climbing arm and other parts of the wall working robot caused by the too large rotating angle, the embodiment of the present application further provides the limiting device for limiting the relative rotating angle between the adjustable climbing arm and the device body 9. In the premise of providing the activity degree of freedom, the collision between the adjustable climbing arm and other parts in the rotating process is avoided, and the risk is prevented. The maximum value of the relative rotating angle can be determined according to the working type or the size and weight of the device body 9, and preferably, the maximum value of the rotating angle can be between 3° and 15°.

[0037] As a specific scheme of the embodiment, the rotating part is a bearing 4, the base 1 is sleeved outside the bearing 4, the movable seat 3 is formed with a shaft body 31 at the corresponding position of the inner ring of the bearing 4, and the shaft body 31 extends into the inner ring of the bearing 4, so that the movable seat 3 can be relatively rotated with the base 1 through the bearing 4. The structure of the shaft body 31 can limit the adjustable climbing arm at the rotating axis of the rotating assembly, prevent the horizontal displacement of the adjustable climbing arm relative to the base 1 when the device body 9 shakes, and also facilitate the smoothness of the rotation of the adjustable climbing arm.

[0038] Specifically, in the embodiment, the movable seat 3 can include a plate-shaped body 32, the plate-shaped body 32 is formed with the shaft body 31 at the bottom, the adjustable climbing arm includes a strip-shaped stroke part 5, the strip-shaped stroke part 5 is formed with parallel arranged guide grooves 51 and longitudinal racks 52 in the length direction, the plate-shaped body 32 is provided with a first motor seat 321, a first gear 322 and a first sliding part 323, the first motor seat 321 is used for driving the first gear 322 engaged with the longitudinal racks 52, and the first sliding part 323 is embedded in the guide grooves 51 and can slide relative to the guide grooves 51.

[0039] Specifically, the plate-shaped body 32 is further formed with a first support 33, one side of the first support 33 relative to the guide grooves 51 is used for fixing the first sliding part 323. The first sliding part 323 is embedded in the guide grooves 51 and can slide relative to the guide grooves 51, cooperates with the driving structure of the gear and rack, accurately limits the movement track of the component through the guide grooves 51, prevents deviation, reduces the friction resistance when the component moves, makes the overall movement more stable and smooth, and effectively improves the reliability and stability of the operation of the movable seat 3 and the adjustable climbing arm. Preferably, the first sliding part 323 of the embodiment can be a pulley block. Compared with the sliding block, the pulley block has the advantages of light weight and smooth sliding, further improves the reliability and stability of the operation of the component in the premise of reducing the weight of the adjustable climbing arm.

[0040] Preferably, the bearing seat 6 is integrally formed in the middle of the base 1, the outer ring of the bearing 4 is fixedly embedded in the bearing seat 6, the shaft body 31 of the movable seat 3 is inserted into the inner ring of the bearing 4 in an interference fit, and the rotation axis of the bearing seat 6 is located in the central region of the adjustable climbing arm. The center of the adjustable climbing arm can be the mass center or the geometric center. In this embodiment, the rotation axis of the rotating assembly is located in the central region of the adjustable climbing arm, which further ensures the smoothness of the rotation of the adjustable climbing arm and avoids the risk of collision between the adjustable climbing arm and other parts during rotation.

[0041] Preferably, the limiting device of this embodiment includes a connecting seat 2 arranged between the movable seat 3 and the base 1. The connecting seat 2 includes a placement surface 21 arranged relative to the movable seat 3 and a limiting piece arranged on the placement surface 21. Specifically, the connecting seat 2 includes a through hole 23 through which the shaft body 31 passes, and further includes a connecting arm 22 extending from the outer wall of the through hole 23 to the side of the adjustable climbing arm. The limiting piece is arranged at the connecting arm 22 and is connected between the connecting seat 2 and the adjustable climbing arm. In this embodiment, the limiting piece is arranged on the placement surface 21, and is arranged 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 piece 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 efficiently applied from the side, and the force arm is optimized.

[0042] As a preferred but not limited solution, the limiting piece includes a housing 7 and an elastic piece 8 arranged in the housing 7. One end of the elastic piece 8 is fixedly connected with the housing 7, and the other end of the elastic piece 8 abuts against the adjustable climbing arm. The elastic piece 8 is used to provide a restoring force when the adjustable climbing arm rotates along the rotating piece.

[0043] Further, the base 1 of this embodiment is slidably connected with the inner side of the device body 9. Specifically, the device body 9 is formed with a sliding rail 91 in the length direction, and the connecting seat 2 is further formed with a sliding block 24. The position of the sliding block 24 corresponds to the position of the sliding rail 91. The corresponding matching structure of the sliding block 24 and the sliding rail 91 can make the connection between the connecting seat 3 and the device body 9 more close and flexible. The base 1 and the connecting seat 2 can slide along the inner side of the device body 9 under the limitation of the sliding block 24 and the sliding rail 91.

[0044] The above structure enables the adjustable climbing arm to have one degree of freedom of relative rotation and one degree of freedom of lateral movement along the device body 9, so that when the device body 9 slightly swings due to operation or other working conditions, the device body 9 and the adjustable climbing arm can realize a certain degree of rotation and relative movement due to the existence of the degrees of freedom of rotation and lateral movement between the device body 9 and the adjustable climbing arm, so that the slight swing of the device body 9 will not affect the rotation or movement of the adjustable climbing arm, thereby reducing the swing impact of the device body 9 on the adjustable climbing arm, avoiding the problem of the swinging device body 9 pulling or twisting the suction member, improving the suction stability of the suction member on the adjustable climbing arm on the glass curtain wall, and further ensuring the operation efficiency of the operation robot.

[0045] The elastic member 8 is arranged between the movable seat 3 and the connecting seat 2, and the elastic member 8 elastically deforms with the rotation of the connecting seat 2 relative to the movable seat 3. When the device body 9 slightly swings, the movable seat 3 on the device body 9 will rotate relative to the connecting seat 2. In the process of relative rotation, the elastic member 8 elastically deforms, and the kinetic energy of rotation is converted into the elastic potential energy of the elastic member 8. When the influencing factors causing the slight swing of the device body 9 are eliminated, the elastic potential energy of the elastic member 8 is released to drive the movable seat 3 and the connecting seat 2 to rotate in the opposite direction, so as to reset the device body 9 and the adjustable climbing arm to the normal assembly state.

[0046] Preferably, the elastic member in the shell 7 comprises at least upper and lower springs arranged side by side, one end of the upper and lower springs is abutted against the bottom surface of the shell 7, and the other end of the upper and lower springs is abutted against the adjustable climbing arm via the ejector 10. The ejector 10 comprises a top rod 101 driven by the elastic member 8, and a connecting rod 102 arranged at the end of the top rod 101, the connecting rod 102 is abutted against the adjustable climbing arm. The end surface of the connecting rod 102 corresponds to the shape of the abutting surface 35 of the movable seat. The two ends of the connecting rod 102 are provided with rolling bearings 102a, and the abutting surface 35 is a side groove arranged on the side of the movable seat 3, the end surface of the connecting rod 102 corresponds to the shape of the side groove, and the rolling bearings 102a are abutted against the groove wall of the side groove. The length of the connecting rod 102 is greater than the width of the shell 7, and the two rolling bearings 102a are arranged on the two sides in the width direction of the device body 9. In this way, the upper and lower springs can generate abutting forces on both sides of the movable seat 3 along the rotation center, that is, the movable seat is abutted by the connecting rod 102 on both sides of the rotation center of the base 1. Therefore, no matter in which direction (clockwise or counterclockwise) the base 1 rotates relative to the movable seat 3, a part of the spring in the shell 7 will be compressed and elastically deformed. When the working condition factor affecting the swing of the device body 9 disappears, the elastic potential energy of the compressed spring is released to drive 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 rotates relative to the movable seat 3, the two can be returned after the swing factor disappears, and a part of the spring is always compressed, which indicates that no matter how the base 1 rotates relative to the movable seat 3, the upper and lower springs can convert the kinetic energy of the relative rotation into elastic potential energy by compressing the spring, and the damping effect of the spring can reduce the amplitude of the relative rotation. Therefore, the connecting rod 102 can ensure the return stability and swing stability of the adjustable climbing arm.

[0047] Second embodiment:

[0048] The purpose of the embodiment of the present application is to provide another climbing arm rotation connecting structure, which is different from the first embodiment. The connecting seat comprises a placement surface arranged relative to the movable seat and a limiting member arranged on the placement surface. The limiting member comprises a plurality of protruding stop portions arranged on the placement surface and arranged in the rotation direction of the movable seat or the strip-shaped stroke member. All the protruding stop portions are arranged on the same circle with the rotation center of the rotation assembly as the center.

[0049] The embodiment forms a limiting device for limiting the rotation angle of the adjustable climbing arm by arranging a plurality of protruding stop portions on the placement surface. On the premise of providing the freedom of movement, the risk caused by the collision between the adjustable climbing arm and other parts during the rotation process is avoided.

[0050] Third embodiment:

[0051] Another object of the present application is to provide another climbing arm rotation connecting structure, which is different from the first embodiment, wherein the base and the movable seat are in the shape of a cylinder, the cylinder openings of the base and the movable seat are oppositely arranged, the rotating member is a torsion spring, the lower part of the torsion spring is located in the base, and the lower end of the torsion spring is fixedly connected with the base, the upper part of the torsion spring is located in the movable seat, and the upper end of the torsion spring is connected with the movable seat, and the limiting device comprises a coaxial limiting device arranged between the movable seat and the base, so that the movable seat can rotate relative to the base through the torsion spring.

[0052] In the present embodiment, the base comprises a first annular surface in contact with the movable seat, the movable seat comprises a second annular surface corresponding to the first annular surface, the first annular surface and the second annular surface are oppositely arranged, and the middle part forms a cylindrical opening. The coaxial limiting device comprises an annular groove formed in the middle part of the first annular surface, and further comprises a hemispherical protrusion formed in the middle part of the second annular surface corresponding to the annular groove, the hemispherical protrusion is located on the circumference where the annular groove is located, so that when the hemispherical protrusion slides in the annular groove, the movable seat and the base form a coaxial sliding limiting.

[0053] As an improvement, the above-mentioned movable seat of the present embodiment further comprises a plurality of stop blocks arranged in the annular groove, which are used to limit the relative rotation angle between the adjustable climbing arm and the device body.

[0054] The present embodiment provides a torsion spring, the lower part of the torsion spring is located in the base, and the lower end of the torsion spring is fixedly connected with the base, the upper part of the torsion spring is located in the movable seat, and the upper end of the torsion spring is connected with the movable seat, so that the relative rotation between the base and the movable seat can be realized. At the same time, the coaxial limiting device is formed by the annular groove of the first annular surface of the base and the hemispherical protrusion of the second annular surface of the movable seat, which avoids the transverse disengagement of the base and the movable seat, improves the structural strength, and further limits the relative rotation angle between the adjustable climbing arm and the device body by arranging stop blocks in the annular groove, which avoids the risk caused by the collision between the adjustable climbing arm and other parts during the rotation process on the premise of providing the freedom of movement.

[0055] Fourth embodiment:

[0056] The present application provides a work robot, which is connected with the device body of the wall work robot through the climbing arm rotation connecting structure of any one of the above-mentioned embodiments.

[0057] Preferably, the climbing arm further comprises a first motor arranged on the rotating assembly, and a first gear driven by the first motor, and the climbing arm is arranged with a longitudinal rack corresponding to the position of the first motor and engaged with the first gear.

[0058] In summary, the climbing arm rotating connection structure of the embodiment can provide flexible relative rotation between the adjustable climbing arm and the device body when applied to a wall working robot, effectively improving the problem of lack of activity freedom in the connection between the existing climbing arm and the device body. In the alternating climbing action switching stage, the relative rotation can compensate for the possible rigid angle deviation between different groups of adjustable climbing arms and the device body, prevent the device body from being stuck due to the sudden change of the connection angle when switching the sliding path, ensure the continuity of the action, improve the climbing stability and working reliability, and reduce the safety hazards. In addition, the limiting device arranged 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, avoid the climbing arm from exceeding the working range or interfering with other components due to excessive rotation angle, and further ensure the running safety and reliability of the wall working robot during continuous operation and alternating climbing.

[0059] The above is only a preferred embodiment of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

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; 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.

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 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.

5. The climbing arm rotating connection structure according to claim 4, 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.

6. The climbing arm rotating connection structure according to claim 5, 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.

7. 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.

8. 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 1-7.

9. The climbing arm according to claim 8, 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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