A climbing arm adaptive reset connecting structure and a climbing arm

Abstract

The application provides a climbing arm adaptive reset connecting structure and a climbing arm. The climbing arm adaptive reset connecting structure comprises: a movable seat used for connecting the adaptive climbing arm; a linear motion mechanism arranged between the movable seat and a device body, wherein the linear motion mechanism comprises a linear motion mechanism or a rotating mechanism; and one or more adaptive connecting mechanisms arranged on the linear motion mechanism, wherein the adaptive connecting mechanism comprises a shell and an elastic piece arranged in the shell, one end of the elastic piece is fixedly connected with the shell, the other end of the elastic piece is at least abutted with the adaptive climbing arm, and the elastic piece is used for providing a reset force when the adaptive climbing arm moves along the linear motion mechanism. The application can buffer slight swing of the device body, avoid the swing from being conducted to the suction accessory through the movable arm to cause pulling, twisting or deviation problems, guarantee stable adsorption of the suction accessory and the wall surface, and further improve the operation stability of the wall surface operation robot.

Description

Technical Field

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

[0002] For robots capable of operating on high-rise walls, during operation, the suction devices on the robot's climbing arms adhere to the wall surface to secure the robot and achieve stable operation. However, in actual operation, wall-climbing robots generally need to perform continuous work on the wall, which requires them to climb and move along the surface. Therefore, technically, they are often designed with multiple climbing arms that move alternately to achieve the climbing and movement of the robot.

[0003] However, existing wall-climbing robots typically connect their climbing arms to the main body via lateral or longitudinal drive mechanisms, lacking mobility. When there are many climbing arms, taking a cleaning robot as an example, the robot's body will inevitably experience slight swaying due to factors such as the cleaning operation of the cleaning components, the water circulation in the tank, the movement of other components, and even outdoor wind conditions. This slight swaying will be transmitted to the adsorption components through the moving arms, causing them to be pulled, twisted, or displaced, affecting the stable adsorption of the adsorption components and thus the operational stability of the wall-climbing robot. Summary of the Invention

[0004] To address the shortcomings of existing technologies, one of the objectives of this invention is to propose an adaptive reset connection structure for climbing arms. This structure overcomes the defects of the climbing arm and device body connection lacking mobility redundancy, being easily affected by body sway, which affects the stable adsorption of the adsorption components and thus the operational stability of the wall-climbing robot.

[0005] The technical solution of this invention is implemented as follows:

[0006] An adaptive reset connection structure for climbing arms is applied to a wall-climbing robot. The wall-climbing robot includes a device body and a plurality of adaptive climbing arms disposed on the device body. The adaptive reset connection structure for the climbing arms includes:

[0007] Movable mount, the movable mount being used to connect the adaptive climbing arm;

[0008] A linear motion mechanism is provided between the movable seat and the device body, and the linear motion mechanism includes a linear motion mechanism or a rotation mechanism;

[0009] One or more adaptive connection mechanisms are disposed on a linear motion mechanism, including a housing and an elastic element disposed within the housing, one end of the elastic element being fixedly connected to the housing, and the other end of the elastic element abutting against at least the adaptive climbing arm, the elastic element being used to provide a restoring force when the adaptive climbing arm moves along the linear motion mechanism.

[0010] Preferably, the number of adaptive connection mechanisms is one, and the elastic elements in 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 at least abuts against the movable seat through an ejector.

[0011] Preferably, the ejector includes a push rod driven by an elastic element and a connecting rod disposed at the end of the push rod, the connecting rod abutting against the movable seat.

[0012] Preferably, the shape of the end face of the connecting rod corresponds to the shape of the contact surface of the movable seat.

[0013] Preferably, rolling bearings are installed at both ends of the connecting rod, the abutting surface is a side groove opened on the side of the movable seat, the shape of the end face of the connecting rod corresponds to the shape of the side groove, and the rolling bearing abuts against the groove wall of the side groove.

[0014] Preferably, the linear motion mechanism includes a base connected to the device body and a bearing disposed within the base. The movable seat has a shaft formed at a corresponding position on 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.

[0015] Preferably, it further 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 the adaptive connecting mechanism disposed on the placement surface.

[0016] 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 adaptive climbing arm. The adaptive connecting mechanism is located at the connecting arm, and the elastic element is connected between the movable seat and the connecting seat.

[0017] Preferably, the linear motion mechanism is a connecting slider, and the device body has a transverse groove formed at the corresponding position of the connecting slider, so that the movable seat drives the adaptive climbing arm to move laterally relative to the device body. The number of adaptive connecting mechanisms is even, and the adaptive connecting mechanisms are symmetrically arranged on both sides of the adaptive climbing arm. The other end of the elastic element of the adaptive connecting mechanism abuts or hinges to the adaptive climbing arm.

[0018] Another object of the present invention is to provide a climbing arm that is connected to the device body of a wall-working robot via the climbing arm adaptive reset connection structure described in any of the above claims.

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

[0020] When the adaptive reset connection structure for climbing arms provided in this invention is applied to a wall-mounted robot, it effectively compensates for the lack of mobility redundancy in existing climbing arm-to-body connections by setting a linear motion mechanism, including a linear motion mechanism or a rotation mechanism, between the movable seat and the device body. This provides the adaptive climbing arm with multi-directional degrees of freedom, buffering slight swaying from the device body and preventing traction, twisting, or displacement caused by this swaying being transmitted to the adsorption component through the movable arm. This ensures stable adsorption between the adsorption component and the wall surface, thereby improving the operational stability of the wall-mounted robot. Simultaneously, by providing an adaptive connection structure on the linear motion mechanism, including a housing and an elastic element located within the housing for at least abutting the adaptive climbing arm, the elastic potential energy generated by the deformation of the elastic element is converted into kinetic energy or a reset force when the linear motion mechanism and the movable seat move relative to each other. This reduces the relative motion tendency between the adaptive climbing arm and the linear motion mechanism. This improves the stability and operational reliability of the wall-mounted robot under special working conditions, reduces safety hazards, and ensures the operational efficiency of the wall-mounted robot. Attached Figure Description

[0021] 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.

[0022] Figure 1 This is a schematic diagram of the connection between the adaptive reset connection structure of the climbing arm and the strip-shaped travel member of the adaptive climbing arm in this embodiment;

[0023] Figure 2 for Figure 1 A stereoscopic view from another perspective;

[0024] Figure 3 for Figure 1 Exploded view;

[0025] Figure 4 This is a perspective view of the adaptive reset connection structure of the climbing arm in this embodiment. The base, bearing seat, bearing and adaptive connection mechanism are hidden in the figure.

[0026] Figure 5This is a schematic diagram of the adaptive reset connection structure of the climbing arm and the connection between the adaptive climbing arm and the device body in this embodiment. The diagram also shows the translational climbing arm.

[0027] Figure 6 for Figure 5 Enlarged view of point A. Detailed Implementation

[0028] 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.

[0029] 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.

[0030] 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.

[0031] First embodiment:

[0032] See Figures 1 to 6 An adaptive reset connection structure for climbing arms is disclosed, applied to a wall-mounted robot. The wall-mounted robot includes a device body 9 and several translational climbing arms 103 and several adaptive climbing arms 104 disposed on the device body 9. The adaptive reset connection structure for the climbing arms includes:

[0033] Movable seat 3, which is used to connect the adaptive climbing arm 104;

[0034] A linear motion mechanism is provided between the movable seat 3 and the device body 9. The linear motion mechanism includes a linear motion mechanism or a rotation mechanism.

[0035] An adaptive connection mechanism, mounted on the linear motion mechanism, includes a housing 7 and an elastic element 8 disposed within the housing 7. One end of the elastic element 8 is fixedly connected to the housing 7, and the other end of the elastic element 8 at least abuts against the adaptive climbing arm 104. The elastic element 8 provides a restoring force (buffering effect) when the adaptive climbing arm 104 moves along the linear motion mechanism.

[0036] Preferably, the linear motion mechanism includes a base 1 connected to the device body 9, and a bearing 4 disposed within the base 1. A shaft 31 is formed at a corresponding position on the inner ring of the bearing 4 of the movable seat 3. The shaft 31 extends into the inner ring of the bearing 4, allowing the movable seat 3 to rotate relative to the base 1 via the bearing 4. The structure of the shaft 31 ensures that the adaptive climbing arm 104 is confined to the rotation axis of the bearing 4 in the base 1, preventing horizontal displacement of the adaptive climbing arm 104 relative to the movable seat 3 and the base 1 when the device body 9 shakes, and also helps to ensure the smooth rotation of the adaptive climbing arm 104.

[0037] 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 adaptive climbing arm 104 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.

[0038] 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 adaptive climbing arm 104. 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 adaptive climbing arm 104.

[0039] 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 set close to the center of the adaptive climbing arm 104. The center of the adaptive climbing arm 104 can be the center of mass or the geometric center. In this embodiment, by setting the rotation axis of the shaft 31 close to the center of the adaptive climbing arm 104, it is beneficial to further ensure the smooth rotation of the adaptive climbing arm 104 and avoid the adaptive climbing arm 104 from colliding with other parts during the rotation process, which could lead to risks.

[0040] Preferably, the elastic element 8 within the housing 7 includes at least an upper spring and a lower spring arranged side by side. One end of the upper spring and the lower spring rests against the bottom surface of the housing 7, and the other end of the upper spring and the lower spring abuts against the movable seat 3 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 movable seat 3. In this embodiment, the movable seat 3 is fixedly connected to the adaptive climbing arm 104, and the connecting rod 102 abuts against the adaptive climbing arm 104 indirectly through the movable seat 3.

[0041] The end face shape of the connecting rod 102 corresponds to the shape of the abutment surface 35 of the movable seat 3. Rolling bearings 102a are installed at both ends of the connecting rod 102. The abutment surface 35 is a side groove opened on the side of the movable seat 3, and the end face shape of the connecting rod 102 corresponds to the shape of the side groove. The rolling bearings 102a abut against the groove wall. 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 direction of the device body 9. This design allows the upper and lower springs to exert abutment force on both sides of the movable seat 3 along its rotation center. That is, both sides of the movable seat 3 located at the rotation center of the base 1 are abutted by the connecting rod 102. Therefore, regardless of the direction (clockwise or counterclockwise) in which the base 1 rotates relative to the movable seat 3, a portion of the springs inside the housing 7 will always be compressed and elastically deformed. When the factors 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 adaptive climbing arm 104.

[0042] Preferably, the adaptive reset connection structure of the climbing arm further 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 the adaptive connection mechanism is disposed on the placement surface 21. Specifically, the connecting seat 2 includes a through hole 23 for the shaft 31 to pass through, and a connecting arm 22 extending from the outer wall of the through hole 23 to the side of the adaptive climbing arm 104. The adaptive connection mechanism is disposed at the connecting arm 22, and the elastic element 8 is connected between the movable seat 3 and the connecting seat 2. In this embodiment, by disposing of the adaptive connection mechanism on the placement surface 21 and by placing it at the connecting arm 22 extending from the outer wall of the through hole 23 to the side of the adaptive climbing arm 104, the elastic element 8 can abut against the side groove opened on the side of the movable seat 3 from the side, so that the reset force is applied efficiently from the side, optimizing the lever arm, further ensuring the potential energy-kinetic energy conversion efficiency of the adaptive reset connection structure of the climbing arm, improving the stability and operational reliability of the wall-working robot under special working conditions, reducing safety hazards, and ensuring the operational efficiency of the wall-working robot.

[0043] 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.

[0044] The aforementioned structure gives the adaptive climbing arm 104 a degree of freedom for relative rotation and a degree of freedom for lateral movement along the device body 9. Therefore, when the device body 9 sways slightly due to operation or other working conditions, the rotational and lateral degrees of freedom between the device body 9 and the adaptive climbing arm 104 allow for rotation and relative movement at a certain angle. This prevents the slight swaying of the device body 9 from affecting the rotation or movement of the adaptive climbing arm 104, thereby reducing the impact of the device body 9 on the swaying of the adaptive climbing arm 104. This avoids the problem of the swaying device body 9 pulling or twisting the adsorption component, improves the adsorption stability of the adsorption component on the adaptive climbing arm 104 on the glass curtain wall, and thus ensures the working efficiency of the robot.

[0045] Second embodiment:

[0046] The purpose of this invention is to provide another adaptive reset connection structure for climbing arms. Unlike the first embodiment described above, the linear motion mechanism is a connecting slider. The device body has a transverse groove formed at the corresponding position of the connecting slider, so that the movable seat drives the adaptive climbing arm to move laterally relative to the device body. The number of adaptive connection mechanisms is even, and the adaptive connection mechanisms are symmetrically arranged on both sides of the adaptive climbing arm. The other end of the elastic element of the adaptive connection mechanism abuts or hinges to the adaptive climbing arm.

[0047] In this embodiment, the connecting slider is located below the base. By cooperating with the transverse slide, the adaptive climbing arm can move along the length of the device body. For example, the assembly of the connecting slider and the transverse slide can adopt the sliding assembly form of a dovetail slide rail to ensure the assembly stability of the base.

[0048] As a specific solution rather than a limitation, four adaptive connection mechanisms are provided, located on the upper left, upper right, lower left, and lower right sides of the movable seat. The ends of the elastic elements of the adaptive connection mechanisms are hinged to the adaptive climbing arm to exert forces on the adaptive climbing arm in multiple symmetrical directions. This effectively reduces the relative motion tendency between the adaptive climbing arm and the movable seat and provides a restoring force for the adaptive climbing arm. This can improve the stability and operational reliability of the wall-mounted robot under special working conditions, reduce safety hazards, and ensure the operational efficiency of the wall-mounted robot.

[0049] Third embodiment:

[0050] The present invention provides a climbing arm, which is connected to the device body of a wall-working robot via the climbing arm adaptive reset connection structure described in any of the above claims.

[0051] In summary, when the adaptive reset connection structure for climbing arms provided in this embodiment of the invention is applied to a wall-mounted robot, it effectively compensates for the lack of mobility redundancy in existing climbing arm-to-body connections by setting a linear motion mechanism, including a linear motion mechanism or a rotation mechanism, between the movable seat and the device body. This provides the adaptive climbing arm with multi-directional degrees of freedom, buffering slight swaying caused by the device body and preventing traction, twisting, or displacement caused by this swaying being transmitted to the adsorption component through the movable arm. This ensures stable adsorption between the adsorption component and the wall surface, thereby improving the operational stability of the wall-mounted robot. Simultaneously, by providing an adaptive connection structure on the linear motion mechanism, including a housing and an elastic element disposed within the housing for at least abutting the adaptive climbing arm, when the linear motion mechanism and the movable seat move relative to each other, the elastic potential energy generated by the deformation of the elastic element is converted into kinetic energy or a reset force, reducing the relative motion tendency between the adaptive climbing arm and the linear motion mechanism. This improves the stability and operational reliability of the wall-mounted robot under special working conditions, reduces safety hazards, and ensures the operational efficiency of the wall-mounted robot.

[0052] 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 adaptive reset connection structure, characterized in that, An application to wall-mounted robots, the wall-mounted robot comprising a device body and a plurality of adaptive climbing arms mounted on the device body, wherein the adaptive reset connection structure of the climbing arms includes: Movable mount, the movable mount being used to connect the adaptive climbing arm; A linear motion mechanism is provided between the movable seat and the device body, and the linear motion mechanism includes a linear motion mechanism or a rotation mechanism; One or more adaptive connection mechanisms are disposed on a linear motion mechanism, including a housing and an elastic element disposed within the housing, one end of the elastic element being fixedly connected to the housing, and the other end of the elastic element abutting against at least the adaptive climbing arm, the elastic element being used to provide a restoring force when the adaptive climbing arm moves along the linear motion mechanism.

2. The adaptive reset connection structure for climbing arms according to claim 1, characterized in that, The number of adaptive connection mechanisms is one, and the elastic elements in 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 at least abuts against the movable seat through an ejector.

3. The adaptive reset connection structure for climbing arms according to claim 2, characterized in that, The ejector includes an ejector rod driven by an elastic element and a connecting rod located at the end of the ejector rod, the connecting rod abutting against the movable seat.

4. The adaptive reset connection structure for climbing arms according to claim 3, characterized in that, The shape of the end face of the connecting rod corresponds to the shape of the contact surface of the movable seat.

5. The adaptive reset connection structure for climbing arms according to claim 4, characterized in that, Both ends of the connecting rod are equipped with rolling bearings. The abutting surface is a side groove opened on the side of the movable seat. The shape of the end face of the connecting rod corresponds to the shape of the side groove. The rolling bearing abuts against the groove wall of the side groove.

6. The adaptive reset connection structure for climbing arms according to any one of claims 1 to 5, characterized in that, The linear motion mechanism includes a base connected to the device body and a bearing disposed within the base. The movable seat has a shaft formed at a corresponding position on 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.

7. The adaptive reset connection structure for climbing arms according to claim 6, characterized in that, It also includes a connecting seat disposed between the movable seat and the base, the connecting seat having a placement surface disposed relative to the movable seat, and the adaptive connecting mechanism being disposed on the placement surface.

8. The adaptive reset connection structure for climbing arms according to claim 7, 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 adaptive climbing arm. The adaptive connecting mechanism is located at the connecting arm, and the elastic element is connected between the movable seat and the connecting seat.

9. The adaptive reset connection structure for climbing arms according to claim 1, characterized in that, The linear motion mechanism is a connecting slider. The device body has a transverse groove formed at the corresponding position of the connecting slider, so that the movable seat drives the adaptive climbing arm to move laterally relative to the device body. The number of adaptive connecting mechanisms is even. The adaptive connecting mechanisms are symmetrically arranged on both sides of the adaptive climbing arm. The other end of the elastic element of the adaptive connecting mechanism abuts or hinges to the adaptive climbing arm.

10. A climbing arm, characterized in that, The climbing arm adaptive reset connection structure according to any one of claims 1-9 is connected to the device body of the wall-working robot.

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