CN218703579U

CN218703579U - Motion joint and adsorption component

Info

Publication number: CN218703579U
Application number: CN202221860975.8U
Authority: CN
Inventors: 汪冬
Original assignee: Guangzhou Liduo Robot Intelligent Technology Group Co ltd
Current assignee: Guangzhou Liduo Robot Intelligent Technology Group Co ltd
Priority date: 2022-07-19
Filing date: 2022-07-19
Publication date: 2023-03-24
Anticipated expiration: 2032-07-19

Abstract

The utility model provides a motion joint and adsorption component, including base, rotation portion and canceling release mechanical system, rotation portion with the base is connected, rotation portion with the base is used for connecting external equipment respectively, and receive external force after the rotation portion with the base can rotate relatively each other, canceling release mechanical system installs on the base, and canceling release mechanical system with rotation portion mutually supports, after the external force that acts on rotation portion or the base is eliminated, canceling release mechanical system makes rotation portion resume to initial position relative to the base; the motion joint and the adsorption assembly have the advantages of reasonable structure, convenience in use and good self-adaptation.

Description

Motion joint and adsorption component

Technical Field

The utility model belongs to the technical field of the robot, concretely relates to motion joint and adsorption component.

Background

The wall climbing robot is an electromechanical device capable of walking on a vertical surface or a large-gradient inclined surface. The derusting equipment is a mechanical equipment for cleaning an oxide layer on the surface of metal so as to further process the surface of the metal after derusting is finished (for example, painting paint on the surface of the metal after derusting is finished), and after the derusting equipment is combined with a wall climbing robot, the derusting equipment can be called as a derusting robot so as to realize derusting operation on the side wall of a ship. In order to realize the wall climbing function of the robot, generally, a suction cup needs to be installed on the robot to form feet or walking feet of the robot, that is, the suction cup can be sucked on the surface of a workpiece (vertical surface) by vacuumizing the suction cup to form negative pressure, so that the purpose that the robot can walk and work on the vertical surface or the side wall of the workpiece is realized.

However, the wall-climbing robot in the prior art has certain inconvenience or relatively poor adaptability in the walking process on the vertical surface; particularly, when the robot walks or works on the vertical surface of a workpiece, the purpose of adsorption of the robot on the vertical surface is mainly achieved by adopting a vacuum suction cup, but the surface of the workpiece is changed in height or inclination angle (for example, the surface skin (steel plate) of a ship is not very high in flatness due to comprehensive factors such as expansion and contraction due to heat, contraction due to cold, contraction of a welding seam and the like, and the vertical surface has a certain radian), and the suction cup serving as the walking foot of the robot needs to be adaptively changed along with the change of the surface of the workpiece. In the prior art, the suction cup is usually rigidly connected to the main body of the robot, or a motor is arranged between the main body of the robot and the suction cup to change the rotation angle of the suction cup relative to the main body of the robot. When the sucker is rigidly connected with the robot main body, the sucker cannot be well adsorbed or sucked on the surface of a workpiece when the flatness of the surface of the workpiece does not meet the requirement or the vertical surface of the workpiece has radian in the walking or operation process of the robot; in other words, on the one hand, the suction cup is stressed unevenly, and on the other hand, due to the rigid connection of the suction cup, a gap is easily generated between the suction cup and the workpiece, so that the suction force of the suction cup relative to the workpiece is insufficient, and the robot is easily detached from the vertical surface of the workpiece.

Further, when the suction cups are connected with the robot main body through the motor (that is, the motor is used as a kinematic joint), the weight of the motor is relatively high, and one walking robot often has a plurality of suction cups, so that the weight of the robot is increased as a whole; secondly, the suction cups serving as the walking feet can stretch relative to the robot main body through a telescopic device (namely, the robot walks through the cooperative matching among a plurality of walking feet), and certain difficulty is brought to the arrangement of cables of the motor; further, the use of the wall climbing robot causes the problems of inconvenient use and relatively poor adaptability as described above.

SUMMERY OF THE UTILITY MODEL

In view of this, the present invention provides a motion joint and an absorption assembly with reasonable structure, convenient use and good adaptability.

In order to solve the technical problem, the utility model discloses the technical scheme who uses is:

the utility model provides a motion joint, includes base, rotation portion and canceling release mechanical system, rotation portion with the base is connected, rotation portion with the base is used for connecting external equipment respectively, and receives after the external force rotation portion with the base can rotate relatively each other, canceling release mechanical system installs on the base, just canceling release mechanical system with rotation portion mutually supports, acts on rotation portion or after the external force on the base is eliminated, canceling release mechanical system makes rotation portion for the base resumes to initial position.

As a further improvement of the kinematic joint, the reset mechanism includes a first rack, a first gear, a first elastic member, and a second elastic member, the first gear is fixedly connected to the rotating portion, the first rack is slidably connected to the base, the first rack is engaged with the first gear, one end of the first elastic member and one end of the second elastic member are respectively abutted to two ends of the first rack, and the other end of the first elastic member and the other end of the second elastic member are abutted to the base.

As a further improvement on the kinematic joint, a first chamber and a second chamber are further arranged in the base, the first chamber is communicated with the second chamber, the first rack is installed in the first chamber and can slide along the axial direction of the first chamber, and the first gear is installed in the second chamber.

As a further improvement on the kinematic joint, two ends of the first chamber are respectively provided with an adjusting piece, the adjusting pieces are movably connected with the base and can move along the length direction of the first chamber;

one end of the first elastic piece and one end of the second elastic piece are respectively abutted against two ends of the first rack, and the other end of the first elastic piece and the other end of the second elastic piece are respectively abutted against the adjusting piece.

As a further improvement on the kinematic joint, an air pressure balance hole is further formed in the first rack, and the air pressure balance hole penetrates through the first rack in the axial direction relative to the first rack.

As a further improvement of the movement joint, a locking piece is further arranged on the base and movably connected with the base, and the locking piece is used for fixing the position of the adjusting piece relative to the base.

The base of the kinematic joint is fixedly connected with the sucking disc, and the rotating part of the kinematic joint is used for connecting external equipment.

As a further improvement of the adsorption component, the adsorption component further comprises a lifting mechanism, wherein the lifting mechanism is fixedly connected with a rotating part of the kinematic joint, and the kinematic joint enables the sucker to rotate relative to the lifting mechanism.

As a further improvement of the adsorption assembly, the lifting mechanism comprises a guide rail, a sliding seat and a driving mechanism, the guide rail is fixedly connected with the kinematic joint, the sliding seat is slidably connected with the guide rail, the driving mechanism is fixedly connected with the sliding seat, the driving mechanism is in transmission connection with the guide rail, and the driving mechanism is used for driving the sliding seat to move relative to the guide rail;

the driving mechanism comprises a motor, a second gear and a second rack, the second rack is fixedly connected with the guide rail, the second gear is fixedly connected with a driving shaft of the motor, the motor is fixedly connected with the sliding seat, and the second gear is meshed with the rack.

As a further improvement to the adsorption component, the lifting mechanism further comprises a reinforcing rod, and the reinforcing rod is fixedly connected with the guide rail.

Compared with the prior art the beneficial effects of the utility model mainly appear: the moving joint is arranged on the sucker, so that the sucker serving as the walking foot of the robot can be attached to the walking surface of the workpiece in a self-adaptive manner, when the walking surface is in an arc surface, the sucker can deflect relative to the robot by taking the moving joint as a rotation point, the sucker can be attached to the walking surface better, unbalance of stress of the sucker is reduced, a gap is not easy to generate between the sucker and the workpiece, the suction force of the sucker relative to the walking surface is ensured, and the robot is not easy to fall off from the walking surface; furthermore, a reset mechanism is arranged in the kinematic joint, and after the external force acting on the sucker in the walking process of the robot is eliminated, the kinematic joint can drive the sucker to reset (for example, the sucker is kept in a vertical state relative to the axis of the lifting device), so that the sucker can better adapt to a walking surface when the robot drops feet next time (the sucker is adsorbed on different positions of a workpiece); secondly, due to the reaction force in the reset mechanism (elastic part), the walking stability of the robot on the walking surface can be ensured, namely, after the sucker is adsorbed on a workpiece, the robot main body is not easy to deflect and shake by taking the motion joint as a rotation point; and the convenience of the walking robot is improved, and the adaptability to the walking vertical face is improved.

Drawings

The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular description of preferred embodiments of the invention, as illustrated in the accompanying drawings. Like reference numerals refer to like parts throughout the drawings, and the drawings are not intended to be drawn to scale in actual dimensions, emphasis instead being placed upon illustrating the principles of the invention.

Fig. 1 is a schematic view of the overall structure of a kinematic joint of the present invention;

FIG. 2 is a schematic cross-sectional view of a kinematic joint of the present invention;

FIG. 3 is a schematic cross-sectional view of the base of the present invention;

FIG. 4 is an exploded view of the middle kinematic joint of the present invention;

fig. 5 is a schematic structural view of the middle adsorption assembly of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and can implement the present invention, but the illustrated embodiments are not intended to limit the present invention, and in the present embodiments, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and the present invention is described only, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as limited to the present invention.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element and be integral therewith, or intervening elements may also be present. The terms "mounted," "one end," "the other end," and the like as used herein are for illustrative purposes only.

As shown in fig. 1-4, the present embodiment provides a kinematic joint 1, which includes a base 2, a rotating part 3 and a restoring mechanism, wherein the rotating part 3 and the base 2 can form a rotating connection through a bearing 4, the rotating part 3 and the base 2 are respectively used for connecting external devices, for example, in the present embodiment, the base 2 is used for connecting a suction cup 14, and the rotating part 3 is used for connecting a lifting device; of course, the base 2 can also be connected to the lifting device, and the rotating part 3 can be connected to the suction cup 14. Further, the rotating portion 3 and the base 2 can rotate relative to each other when the movable joint 1 is subjected to an external force, that is, the base 2 rotates relative to the rotating portion 3, or the rotating portion 3 rotates relative to the base 2.

The reset mechanism is installed on the base 2 and is matched with the rotating part 3, and after the external force acting on the rotating part 3 or the base 2 is eliminated, the reset mechanism enables the rotating part 3 to be restored to the initial position relative to the base 2.

As shown in fig. 2 and 4, in a preferred embodiment, the reset mechanism includes a first rack 5, a first gear 6, a first elastic member 7 and a second elastic member 8, the first gear 6 is sleeved outside the rotating portion 3, the first gear 6 and the rotating portion 3 are fixed by a pin, the first rack 5 is slidably connected to the base 2, the first rack 5 is engaged with the first gear 6, a first end of the first elastic member 7 abuts against a first end of the first rack 5, a first end of the second elastic member 8 abuts against a second end of the first rack 5, and second ends of the first elastic member 7 and the second elastic member 5 abut against the base 2 respectively. Specifically, the motion joint 1 is arranged on the suction cup 14, so that the suction cup 14 serving as a walking foot of the robot can be attached to a walking surface of a workpiece in a self-adaptive manner, if the walking surface is an arc surface, the suction cup 14 can deflect relative to a robot main body by taking the motion joint 1 as a rotation point at a certain angle, so that the suction cup 14 can be attached to the walking surface better, unbalance of stress of the suction cup 14 is reduced, a gap is not easily generated between the suction cup 14 and the workpiece, and the suction cup 14 is beneficial to maintaining effective suction (negative pressure) relative to a row, namely the robot is not easy to fall off from the walking surface; furthermore, a reset mechanism is arranged in the kinematic joint 1, and after the external force acting on the suction cup 14 in the walking process of the robot is eliminated, the kinematic joint 1 can drive the suction cup 14 to reset (for example, the suction cup 14 is kept in a vertical state relative to the axis of the lifting device), so that the suction cup 14 can better adapt to a walking surface when the robot drops feet next time (the suction cup 14 is adsorbed on different positions of a workpiece); secondly, due to the reaction force in the resetting mechanism (elastic part), the walking stability of the robot on the walking surface can be ensured, namely, after the sucker 14 is adsorbed on a workpiece, the robot main body is not easy to deflect and shake by taking the moving joint 1 as a rotating point; and the convenience of the walking robot is improved, and the adaptability to the walking vertical face is improved.

As shown in fig. 2 and 3, in the preferred embodiment, a first chamber 9 and a second chamber 10 are further disposed in the base 2, the first chamber 9 is communicated with the second chamber 10, the axes of the first chamber 9 and the second chamber 10 are perpendicular to each other, and the second chamber 10 is located in the middle of the first chamber 9 relative to the length direction of the first chamber 9. The first rack 5 is installed in the first chamber 9 and is reciprocally slidable in the axial direction of the first chamber 9, and the first gear 6 is installed in the second chamber 10. Specifically, when the kinematic joint is stressed, the rotating part 3 rotates relative to the base 2 and drives the first gear 6 to rotate, and the first gear 6 drives the first rack 5 engaged with the first gear to slide leftwards or rightwards along the first chamber 9; further, for example, when the first rack 5 slides to the left, a pressing force is respectively applied to the first elastic members 7 located at the left ends thereof, so that the original elastic force acting on the second elastic members 8 is released, that is, the pressing force applied to the first elastic members 7 is greater than the pressing force applied to the second elastic members 8; when the external force acting on the kinematic joint is eliminated, that is, the extrusion force acting on the first elastic member 7 is eliminated, the first elastic member 7 pushes the first rack 5 to move rightwards, and the rotating part 3 is driven to rotate by the first gear 6 until the mutual stress of the first elastic member 7 and the second elastic member 8 reaches a state of relative balance, that is, the kinematic joint is self-reset. The first elastic member 7 and the second elastic member 8 in this embodiment are both springs.

As shown in fig. 1 and 4, in a preferred embodiment, adjusting members 11 are further respectively disposed at two ends of the first chamber 9, the adjusting members 11 are connected with the base 2 by threads, and the adjusting members 11 can move along the length direction of the first chamber 9; one end of the first elastic piece 7 and one end of the second elastic piece 8 are respectively abutted against two ends of the first rack 5, and the other end of the first elastic piece 7 and the other end of the second elastic piece 8 are respectively abutted against the adjusting piece 11. Through the adjustment of the adjusting piece 11, an extrusion force or a pretightening force can be respectively applied to the first elastic piece 7 and/or the second elastic piece 8, so that the driving torque of the stressed motion joint can be adjusted; alternatively, the initial return point of the rotating portion may be adjusted by adjusting the adjusting member 11. For example, in a state that the rotating part of the kinematic joint is at the initial reset point, the suction cup 14 is perpendicular to the axis of the lifting device, and the suction cup 14 can be no longer in a perpendicular state relative to the axis of the lifting device after the adjustment of the adjusting member 11, that is, after a prediction is made according to the curvature change of the walking area of the robot, the spring is pre-tightened and adjusted by the adjusting member, so that the robot can flexibly adapt to various different working conditions.

As shown in fig. 2 and 4, in a preferred embodiment, the first rack 5 is further provided with an air pressure balancing hole 12, the air pressure balancing hole 12 penetrates through the first rack 5 in the axial direction of the first rack 5, and the air pressure balancing hole 12 is arranged to prevent the first rack from forming a piston effect when the first chamber 9 moves. Further, still be provided with retaining member 13 on the base 2, retaining member 13 with base 2 through the screw thread formation be connected, and retaining member 13 is used for fixed regulating part 11 for the position of base 2, its tip and regulating part 11 looks butt of retaining member 13 after the locking, and then avoid regulating part 11 to take place to become flexible and influence the motion joint.

As shown in fig. 5, the present embodiment further provides a suction assembly, which includes the suction cup 14 and the kinematic joint 1 as described above, the base 2 of the kinematic joint 1 is fixed to the suction cup 14 by a bolt, and the rotating part 3 of the kinematic joint 1 is used for connecting an external device. Furthermore, the lifting mechanism 15 is also included, the lifting mechanism 15 is fixed with the rotating part 3 of the kinematic joint 1 through a bolt, and the kinematic joint 1 enables the suction cup 14 to rotate or deflect relative to the lifting mechanism 15.

As shown in fig. 5, in a preferred embodiment, the lifting mechanism 15 includes a guide rail 16, a slide carriage 17, and a driving mechanism, the guide rail 16 is fixed to the kinematic joint 1 by bolts, the slide carriage 17 is slidably connected to the guide rail 16, and the slide carriage 17 is capable of sliding back and forth along the length direction of the guide rail 16, the driving mechanism is fixed to the slide carriage 17, and the driving mechanism is in transmission connection with the guide rail 16, and the driving mechanism is used for driving the slide carriage 17 to move relative to the guide rail. Further, the driving mechanism comprises a motor 18, a second gear 19 and a second rack 20, the second rack 20 is fixed with the guide rail 16, the second gear 19 is fixed with a driving shaft of the motor 18, the motor 18 is fixed with the sliding seat 17 through bolts, the second gear 19 is meshed with the second rack 20, and the axes of the second rack 20 and the guide rail 16 are parallel to each other. Further, the lifting mechanism 15 further includes a reinforcing rod 21, and the reinforcing rod 21 is fixed to the guide rail 16 by bolts. The reinforcing bar 21 is used to increase the rigidity of the guide rail 16 and reduce the amount of deformation of the guide rail 16 after being subjected to a force. The lifting mechanism 15 can realize the lifting action (lifting the feet) of the suction cup 14, or when a step appears on the walking surface, the suction cup 14 can be adjusted through the lifting mechanism 15 without adjusting the overall posture of the robot.

Compared with the prior art the beneficial effects of the utility model mainly appear: the moving joint is arranged on the sucker, so that the sucker serving as the walking foot of the robot can be attached to the walking surface of the workpiece in a self-adaptive manner, when the walking surface is in an arc surface, the sucker can deflect relative to the robot by taking the moving joint as a rotation point, the sucker can be attached to the walking surface better, unbalance of stress of the sucker is reduced, a gap is not easy to generate between the sucker and the workpiece, the suction force of the sucker relative to the walking surface is ensured, and the robot is not easy to fall off from the walking surface; furthermore, a reset mechanism is arranged in the kinematic joint, and after the external force acting on the sucker in the walking process of the robot is eliminated, the kinematic joint can drive the sucker to reset (for example, the sucker is kept in a vertical state relative to the axis of the lifting device), so that the sucker can better adapt to a walking surface when the robot drops feet next time (the sucker is adsorbed on different positions of a workpiece); secondly, due to the reaction force in the reset mechanism (elastic part), the walking stability of the robot on the walking surface can be ensured, namely, after the sucker is adsorbed on a workpiece, the robot main body is not easy to deflect and shake by taking the motion joint as a rotation point; and the use convenience of the walking robot and the adaptability to the walking vertical face are further improved.

In this specification, unless explicitly stated or limited otherwise, a first feature may be "on" or "under" a second feature such that the first and second features are in direct contact, or the first and second features are in indirect contact via an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, reference to the description of the terms "preferred embodiment," "yet another embodiment," "other embodiments," or "specific examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims

1. A kinematic joint, characterized by: including base, rotation portion and canceling release mechanical system, rotation portion with the base is connected, rotation portion with the base is used for connecting external equipment respectively, and receives after the external force rotation portion with the base can rotate relatively each other, canceling release mechanical system installs on the base, just canceling release mechanical system with rotation portion mutually supports, acts on rotation portion or after the external force on the base is eliminated, canceling release mechanical system makes rotation portion for the base resumes to initial position.

2. The kinematic joint of claim 1, wherein: the resetting mechanism comprises a first rack, a first gear, a first elastic piece and a second elastic piece, the first gear is fixedly connected with the rotating portion, the first rack is connected with the base in a sliding mode, the first rack is meshed with the first gear, one end of the first elastic piece and one end of the second elastic piece are respectively abutted to the two ends of the first rack, and the other end of the first elastic piece and the other end of the second elastic piece are abutted to the base.

3. The kinematic joint of claim 2, wherein: the base is further internally provided with a first cavity and a second cavity, the first cavity is communicated with the second cavity, the first rack is installed in the first cavity and can slide along the axial direction of the first cavity, and the first gear is installed in the second cavity.

4. The kinematic joint of claim 3, wherein: adjusting pieces are further arranged at two ends of the first cavity respectively, the adjusting pieces are movably connected with the base, and the adjusting pieces can move along the length direction of the first cavity;

5. The kinematic joint according to any of claims 2 to 4, characterized in that: an air pressure balance hole is further formed in the first rack, and the air pressure balance hole penetrates through the first rack in the axial direction relative to the first rack.

6. The kinematic joint of claim 4, wherein: still be provided with the retaining member on the base, the retaining member with base swing joint, just the retaining member is used for fixing the regulating part for the position of base.

7. An adsorbent assembly, comprising: comprising a suction cup and a kinematic joint according to any one of claims 1 to 6, the base of which is fixedly connected to the suction cup and the rotary part of which is intended to be connected to an external device.

8. The adsorbent assembly of claim 7, wherein: the sucker also comprises a lifting mechanism, wherein the lifting mechanism is fixedly connected with a rotating part of the kinematic joint, and the kinematic joint enables the sucker to rotate relative to the lifting mechanism.

9. The adsorbent assembly of claim 8, wherein: the lifting mechanism comprises a guide rail, a sliding seat and a driving mechanism, the guide rail is fixedly connected with the moving joint, the sliding seat is connected with the guide rail in a sliding manner, the driving mechanism is fixedly connected with the sliding seat, the driving mechanism is in transmission connection with the guide rail, and the driving mechanism is used for driving the sliding seat to move relative to the guide rail;

the driving mechanism comprises a motor, a second gear and a second rack, the second rack is fixedly connected with the guide rail, the second gear is fixedly connected with a driving shaft of the motor, the motor is fixedly connected with the sliding seat, and the second gear is meshed with the second rack.

10. The adsorbent assembly of claim 9, wherein: the lifting mechanism further comprises a reinforcing rod, and the reinforcing rod is fixedly connected with the guide rail.