CN114211470A - Robot of arm mutual unblock climbs frame - Google Patents
Robot of arm mutual unblock climbs frame Download PDFInfo
- Publication number
- CN114211470A CN114211470A CN202111565765.6A CN202111565765A CN114211470A CN 114211470 A CN114211470 A CN 114211470A CN 202111565765 A CN202111565765 A CN 202111565765A CN 114211470 A CN114211470 A CN 114211470A
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- Prior art keywords
- mechanical arm
- mechanical
- lock
- arms
- arm
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- 230000009194 climbing Effects 0.000 claims abstract description 30
- 230000000903 blocking effect Effects 0.000 claims description 7
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 238000010923 batch production Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a robot climbing frame with mutually unlocked mechanical arms, wherein when the robot climbing frame climbs, a mechanical arm of one guide rail leaves a mechanical arm seat, a mechanical arm lock of the mechanical arm of the other guide rail loses the blockage, when the mechanical arm of the other guide rail is to be separated from a positioning hole, the mechanical arm lock can extend into a lock groove to prevent the mechanical arm from being separated from the positioning hole, only when the mechanical arm of the previously-crawled guide rail falls into the positioning hole, the mechanical arm lock of the other guide rail can not extend into the lock groove of the corresponding mechanical arm due to the blockage of the inserted mechanical arm, so that the corresponding mechanical arm is allowed to be separated from the positioning hole, namely the other guide rail can crawl.
Description
Technical Field
The invention relates to the field of building climbing frames, in particular to a robot climbing frame with mutually unlocked mechanical arms.
Background
The robot climbing frame comprises a mechanical arm seat, two guide rails matched with each other in a sliding manner, and a plurality of mechanical arms arranged on the guide rails, wherein the mechanical arm seat is provided with two positioning holes matched with the mechanical arms on the two guide rails to realize the positioning of the mechanical arms. When the robot creeps, one guide rail creeps first to drive the mechanical arm on the guide rail to be separated from the positioning hole, after the mechanical arm on the guide rail is inserted into the positioning hole of the next mechanical arm seat, the other guide rail begins to creep again to drive the mechanical arm on the other guide rail to be separated from the positioning hole, and the operation is circulated, so that the effect that the two guide rails alternately creep is finally realized. However, when one of the guide rails climbs, if an external force is applied to lift the other guide rail, the whole climbing frame is separated from the mechanical arm seat, and a falling accident occurs.
Disclosure of Invention
The invention aims to solve the technical problem that the robot climbing frame with the mutually unlocked mechanical arms aims at overcoming the defect that the whole climbing frame is separated from a mechanical arm seat and a falling accident occurs because another guide rail is lifted by an external force applied in the climbing process of a single guide rail in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: the robot climbing frame comprises a mechanical arm seat, two guide rails matched with each other in a sliding manner, and a plurality of mechanical arms arranged on the two guide rails, wherein the mechanical arm seat is provided with two positioning holes matched with the mechanical arms on the two guide rails to realize the positioning of the mechanical arms, the rest of each mechanical arm except for at least one mechanical arm at the top and/or the bottom in at least one guide rail in the two guide rails is provided with a locking groove, the mechanical arm seat is also provided with two mechanical arm locks corresponding to the mechanical arms on the two guide rails and two elastic devices corresponding to the two mechanical arm locks, the elastic devices are used for providing pre-tightening force for the corresponding mechanical arm locks, when the other mechanical arm locks are separated from the positioning holes and the corresponding mechanical arms are lifted, the mechanical arm locks extend into the locking grooves of the corresponding mechanical arms under the action of the pre-tightening force to prevent the corresponding mechanical arms from being separated from the positioning holes, the mechanical arm lock can not extend into the lock groove of the corresponding mechanical arm under the blocking action of the other mechanical arm when the other mechanical arm is inserted into the positioning hole.
Preferably, the mechanical arm is divided into a cylindrical portion and a conical portion from top to bottom, and the lock groove is a strip-shaped groove formed in the cylindrical surface of the cylindrical portion, close to the mechanical arm on the opposite side, along the axial direction of the cylindrical portion.
Preferably, the elastic device is used for applying a pre-tightening force along a first direction, and the first direction is perpendicular to the arrangement direction of the two positioning holes and is also perpendicular to the extension direction of the mechanical arm;
the mechanical arm seat is further provided with a group of guide blocks corresponding to the mechanical arm lock, and the guide blocks are matched with the corresponding mechanical arm lock sliding sleeve to limit the mechanical arm lock to move along the first direction.
Preferably, the two mechanical arm locks are of a central symmetrical structure, and the symmetrical center of the two mechanical arm locks is the midpoint between the two positioning holes.
Preferably, the mechanical arm lock is aligned with the corresponding mechanical arm and is connected with the corresponding elastic device after half-winding the other mechanical arm.
Preferably, the arm lock is including the arm contact site, connecting portion, the spring bolt portion that connect gradually, connecting portion and a set of the guide block sliding fit, connecting portion extend and lie in the preceding/rear side of another locating hole along the first direction, the spring bolt portion is certainly after the tip of connecting portion bends into between two locating holes again bend to the axis that the locked groove of the arm that points to corresponding corresponds, the arm contact site with another tip of connecting portion is connected, the outside of arm contact site with the resilient means contact, the inboard formation of arm contact site and the arc that the arm matches.
Preferably, the elastic means is a compression spring.
The robot climbing frame with the mutually unlocked mechanical arms has the following beneficial effects: when the robot climbing frame climbs, the mechanical arm of one guide rail leaves the mechanical arm seat, the mechanical arm lock of the mechanical arm of the other guide rail loses the blocking, when the mechanical arm of the other guide rail is to be separated from the positioning hole, the mechanical arm lock can extend into the lock groove to prevent the mechanical arm from being separated from the positioning hole, only when the mechanical arm of the guide rail which climbs before falls into the positioning hole, the mechanical arm lock of the other guide rail can not extend into the lock groove of the corresponding mechanical arm due to the blocking of the inserted mechanical arm, so that the corresponding mechanical arm is allowed to be separated from the positioning hole, namely the other guide rail can crawl, therefore, the invention can not separate the other guide rail from the mechanical arm seat due to applied external force when lifting the guide rail, and ensures that the climbing frame does not fall.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts:
FIG. 1 is a schematic structural diagram of a robot climbing frame with mutually unlocked mechanical arms of the invention;
FIG. 2 is a schematic view of a robot arm disengaging from a pilot hole;
fig. 3 is a schematic diagram of the structure of two mechanical arm locks.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Exemplary embodiments of the invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "front," "back," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The general idea of the invention is as follows: the mechanical arms are proposed to be mutually unlocked, the other mechanical arms except at least one mechanical arm at the topmost part and/or the bottommost part in at least one guide rail in the two guide rails are provided with locking grooves, the mechanical arm seat is also provided with two mechanical arm locks corresponding to the mechanical arms on the two guide rails and two elastic devices corresponding to the two mechanical arm locks, the elastic device is used for providing pretightening force for the corresponding mechanical arm lock, when the other mechanical arm lock is separated from the positioning hole and the corresponding mechanical arm is lifted, the mechanical arm extends into the lock groove of the corresponding mechanical arm under the action of the pre-tightening force to prevent the corresponding mechanical arm from being separated from the positioning hole, the mechanical arm lock can not extend into the lock groove of the corresponding mechanical arm under the blocking action of the other mechanical arm when the other mechanical arm is inserted into the positioning hole.
In order to better understand the technical solutions, the technical solutions will be described in detail below with reference to the drawings and the specific embodiments of the specification, and it should be understood that the embodiments and specific features of the embodiments of the present invention are detailed descriptions of the technical solutions of the present application, and are not limited to the technical solutions of the present application, and the technical features of the embodiments and examples of the present invention may be combined with each other without conflict.
Referring to fig. 1-3, the embodiment discloses a robot climbing frame with mutually unlocked mechanical arms 1, which includes a mechanical arm base 2, two guide rails in mutual sliding fit, and a plurality of mechanical arms 1 arranged on the two guide rails, wherein the mechanical arm base 2 has two positioning holes 20 for realizing positioning of the mechanical arms 1 by matching with the mechanical arms 1 on the two guide rails.
In order to realize mutual unlocking of the mechanical arms 1, lock grooves are formed in each of the rest mechanical arms except the N topmost and/or bottommost mechanical arms in at least one of the two guide rails, namely, the inner guide rail and/or the outer guide rail, the N bottommost and/or bottommost mechanical arms are provided with no lock grooves, and N is a positive integer greater than or equal to 1. For example, if there are two inner and outer guide rails, there may be no lock groove outside the mechanical arm at the bottommost part of the inner guide rail, and at this time, it is a climbing type climbing frame with an outer guide rail in advance; or, only the mechanical arm at the bottommost part of the outer guide rail is not provided with a locking groove, and the inner guide rail is a climbing type climbing frame in advance; or, only the mechanical arm at the top of the inner guide rail is not provided with a lock groove, and the mechanical arm is a descending type climbing frame with an outer guide rail in advance; or, only the mechanical arm at the top of the outer guide rail is not provided with a lock groove, and the mechanical arm is a descending type climbing frame with an advanced inner guide rail; in addition, in the combination of the above-described cases, it is possible to obtain a climbing frame in which the inner rail or the outer rail or the inner and outer rails can climb or descend without limiting which one of the inner rail or the outer rail or the inner and outer rails is advanced.
Referring to fig. 2 to 3, in the present embodiment, a lock groove 10 is formed in the middle of the robot arm 1.
Specifically, arm 1 is from the top down divided into cylindricality portion and circular cone portion, locked groove 10 is in the position that is close to offside arm 1 on the cylinder of cylindricality portion is followed the bar groove that the axial of cylindricality portion was seted up, and for batch production and simple to operate, two bar grooves have been seted up to this embodiment on each cylindricality portion, and after having installed arm 1, two arms 1 are close to each other and two face-to-face bar grooves are the locked groove 10 that is used for the unblock of two arms 1.
With continued reference to fig. 2-3, the arm base 2 is further provided with two arm locks 3 corresponding to the arms 1 on the two rails and two resilient means 4 corresponding to the two arm locks 3. The arm lock 3, the elastic means 4 may be both enclosed inside the arm seat 2, fig. 2-3 being the situation after the enclosing panel belonging to the arm seat 2 has been opened. The elastic device 4 is used for providing a pre-tightening force for the corresponding mechanical arm lock 3, and in this embodiment, the elastic device 4 preferably adopts a compression spring. When the other mechanical arm 1 is separated from the positioning hole 20 and the corresponding mechanical arm 1 is lifted, the mechanical arm lock 3 extends into the lock groove 10 of the corresponding mechanical arm 1 under the action of the pre-tightening force to prevent the corresponding mechanical arm 1 from being separated from the positioning hole 20, and when the other mechanical arm 1 is inserted into the positioning hole 20, the mechanical arm lock 3 cannot extend into the lock groove 10 of the corresponding mechanical arm 1 under the blocking action of the other mechanical arm 1.
In this embodiment, when the other mechanical arm 1 does not block the movement of the mechanical arm lock 3, the mechanical arm lock 3 is pushed to contact with the corresponding mechanical arm 1 by the pre-tightening force, and when the corresponding mechanical arm 1 is about to be separated from the positioning hole 20, the mechanical arm lock 3 will be bounced into the lock groove 10 of the corresponding mechanical arm 1, so as to lock the corresponding mechanical arm 1 and prevent the corresponding mechanical arm 1 from being separated from the positioning hole 20. Of course, in other embodiments, the mechanical arm lock 3 may be pushed into the lock slot 10 of the corresponding mechanical arm 1 directly by using a pre-tightening force without stopping the movement of the mechanical arm lock 3 by another mechanical arm 1, and the mechanical arm lock 3 may be ejected into the lock slot 10 without waiting for the mechanical arm 1 to ascend, specifically, depending on the position and length of the lock slot 10.
More specifically, the two arm locks 3 are in a central symmetrical structure, and the symmetrical center of the two arm locks 3 is the midpoint between the two positioning holes 20. In this embodiment, the arm lock 3 is substantially U-shaped as a whole, and is aligned with the arm 1 corresponding to the arm lock 3, and is connected to the corresponding elastic device 4 after half-winding the other arm 1.
In order to ensure that the mechanical arm lock 3 can be always aligned to the axis of the lock groove 10 of the mechanical arm 1, the elastic device 4 is configured to apply a pre-tightening force along a first direction, the first direction is perpendicular to the arrangement direction of the two positioning holes 20 and is also perpendicular to the extension direction of the mechanical arm 1, the mechanical arm base 2 is further provided with a set of guide blocks 5 corresponding to the mechanical arm lock 3, and the set of guide blocks 5 is in sliding fit with the corresponding mechanical arm lock 3 to limit the movement of the mechanical arm lock 3 along the first direction, which is the left-right direction in fig. 2. The set of guide blocks 5 is in particular three guide blocks 5.
Specifically, the arm lock 3 includes an arm contact portion 31, a connecting portion 32, and a tongue portion 33, which are connected in sequence, the connecting portion 32 is in sliding fit with the three guide blocks 5, and the three guide blocks 5 are dispersed on the front and rear sides of the connecting portion 32. The connecting portion 32 extends in the first direction and is located at the front/rear side of the other positioning hole 20, the tongue-locking portion 33 is bent from the end of the connecting portion 32 into the space between the two positioning holes 20 and then bent toward the axis corresponding to the locking groove 10 of the corresponding robot arm 1, the arm contact portion 31 is connected to the other end of the connecting portion 32, the outer side (the outer side is the side away from the positioning hole 20) of the arm contact portion 31 is in contact with the elastic means 4, the inner side of the robot arm contact portion 31 (the inner side refers to the side close to the positioning hole 20) is formed in an arc shape matching the robot arm 1, and when the robot arm 1 is inserted into the positioning hole 20, it will come into contact with the inside of the arm contact portion 31 of the arm lock 3 of the other arm 1, thereby blocking the arm lock 3 of the other arm 1 from approaching its corresponding arm 1.
In conclusion, the robot climbing frame with the mutually unlocked mechanical arms has the following beneficial effects: when the robot climbing frame climbs, for the same mechanical arm seat, the mechanical arm of one guide rail leaves the mechanical arm seat, the mechanical arm lock of the mechanical arm of the other guide rail loses the blockage, when the mechanical arm of the other guide rail is to be separated from the positioning hole, the mechanical arm lock can extend into the lock groove to prevent the mechanical arm from being separated from the positioning hole, only when the mechanical arm of the guide rail which climbs before falls into the positioning hole, the mechanical arm lock of the other guide rail cannot extend into the lock groove of the corresponding mechanical arm due to the blockage of the inserted mechanical arm, so that the corresponding mechanical arm is allowed to be separated from the positioning hole, namely the other guide rail can crawl.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (7)
1. A robot climbing frame with mutually unlocked mechanical arms comprises a mechanical arm seat, two guide rails matched with each other in a sliding manner, and a plurality of mechanical arms arranged on the two guide rails, wherein the mechanical arm seat is provided with two positioning holes matched with the mechanical arms on the two guide rails to realize the positioning of the mechanical arms, the robot climbing frame is characterized in that each mechanical arm except the N mechanical arms at the top and/or the bottom in at least one of the two guide rails is provided with a locking groove, N is a positive integer greater than or equal to 1, the mechanical arm seat is further provided with two mechanical arm locks corresponding to the mechanical arms on the two guide rails and two elastic devices corresponding to the two mechanical arm locks, each elastic device is used for providing pre-tightening force for the corresponding mechanical arm lock, and when the other mechanical arm is separated from the positioning hole and the mechanical arm corresponding to the mechanical arm lock rises, the mechanical arm lock can extend into the lock groove of the corresponding mechanical arm under the action of the pre-tightening force to prevent the corresponding mechanical arm from being separated from the positioning hole, and the mechanical arm lock can not extend into the lock groove of the corresponding mechanical arm under the blocking action of the other mechanical arm when the other mechanical arm is inserted into the positioning hole.
2. The robot climbing frame with the mutually unlocked mechanical arms according to claim 1, wherein the mechanical arms are divided into a cylindrical portion and a conical portion from top to bottom, and the lock groove is a strip-shaped groove axially formed in a position on a cylindrical surface of the cylindrical portion, the position being close to the opposite mechanical arm.
3. The robot climbing frame with the mutually unlocked mechanical arms according to claim 2, wherein the elastic device is used for applying a pre-tightening force along a first direction, and the first direction is perpendicular to the arrangement direction of the two positioning holes and is also perpendicular to the extension direction of the mechanical arms;
the mechanical arm seat is further provided with a group of guide blocks corresponding to the mechanical arm lock, and the guide blocks are matched with the corresponding mechanical arm lock sliding sleeve to limit the mechanical arm lock to move along the first direction.
4. The robot climbing frame with the mutually unlocked mechanical arms according to claim 3, wherein the two mechanical arm locks are of a mutually central symmetrical structure, and the symmetrical center of the two mechanical arm locks is the middle point between the two positioning holes.
5. A robotic crawler according to claim 4, wherein said arm locks are aligned with their corresponding arms and are connected to the corresponding resilient means after being looped around the other arm.
6. The robot climbing frame with the mutually unlocked mechanical arms according to claim 5, wherein the mechanical arm lock comprises a mechanical arm contact part, a connecting part and a lock tongue part which are sequentially connected, the connecting part is in sliding fit with the guide blocks, the connecting part extends along a first direction and is positioned at the front side or the rear side of another positioning hole, the lock tongue part is bent from the end part of the connecting part between the two positioning holes and then is bent to the axis corresponding to the lock groove of the corresponding mechanical arm, the mechanical arm contact part is connected with the other end part of the connecting part, the outer side of the mechanical arm contact part is in contact with the elastic device, and the inner side of the mechanical arm contact part forms an arc shape matched with the mechanical arm.
7. A robotic crawler according to claim 1, wherein said resilient means are compression springs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111565765.6A CN114211470A (en) | 2021-12-20 | 2021-12-20 | Robot of arm mutual unblock climbs frame |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111565765.6A CN114211470A (en) | 2021-12-20 | 2021-12-20 | Robot of arm mutual unblock climbs frame |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114211470A true CN114211470A (en) | 2022-03-22 |
Family
ID=80704455
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111565765.6A Pending CN114211470A (en) | 2021-12-20 | 2021-12-20 | Robot of arm mutual unblock climbs frame |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114211470A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6343816B1 (en) * | 1997-07-11 | 2002-02-05 | Wilhelm King | Lock with laterally-outwardly movable bolt supported in a housing |
| CN201705064U (en) * | 2009-11-23 | 2011-01-12 | 湖南高翔重工科技有限公司 | Lockset for asphalt box of asphalt pavement maintenance vehicle |
| CN103600932A (en) * | 2013-11-12 | 2014-02-26 | 苏州佳世达电通有限公司 | Locking mechanism |
| CN107720638A (en) * | 2017-11-03 | 2018-02-23 | 深圳市特辰科技股份有限公司 | A kind of automatic robot arm device locked with mutually unlocking |
-
2021
- 2021-12-20 CN CN202111565765.6A patent/CN114211470A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6343816B1 (en) * | 1997-07-11 | 2002-02-05 | Wilhelm King | Lock with laterally-outwardly movable bolt supported in a housing |
| CN201705064U (en) * | 2009-11-23 | 2011-01-12 | 湖南高翔重工科技有限公司 | Lockset for asphalt box of asphalt pavement maintenance vehicle |
| CN103600932A (en) * | 2013-11-12 | 2014-02-26 | 苏州佳世达电通有限公司 | Locking mechanism |
| CN107720638A (en) * | 2017-11-03 | 2018-02-23 | 深圳市特辰科技股份有限公司 | A kind of automatic robot arm device locked with mutually unlocking |
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