Wall surface operation device with obstacle crossing function

Abstract

The invention provides a wall surface operation device with an obstacle crossing function, which comprises a device body and further comprises a plurality of obstacle crossing assemblies, each obstacle crossing assembly comprises a strip-shaped stroke piece and an obstacle crossing execution component, each obstacle crossing execution component comprises a fixing part and a driving assembly, and the driving assemblies are connected between the strip-shaped stroke pieces and the fixing parts and are connected with the device body. The control part is used for controlling the fixing part to get close to or away from the wall surface; the connecting assembly is used for connecting the obstacle crossing assembly and the device body, and the connecting assembly enables the device body to at least move relative to the corresponding obstacle crossing assembly in the length direction of the strip-shaped stroke piece; the control mechanism is used for controlling the corresponding obstacle crossing assemblies and the connecting assemblies to alternately act to achieve obstacle crossing operation, and the operation mechanism is connected to the device body and used for being in contact operation with the wall face in a detachable mode or being separated from the wall face by a preset distance. High-altitude operation safety and wall surface operation efficiency are both considered, and subsequent operation path planning and intelligent operation of an operation mechanism are facilitated.

Description

Technical Field

[0001] This invention relates to the field of wall-climbing robot technology, and more specifically to a wall-mounted operation device with obstacle-crossing function. Background Technology

[0002] With the increasing number of high-rise buildings, the need for cleaning, inspection and maintenance of walls (such as glass walls and stone walls) is becoming more and more urgent. Wall obstacle crossing devices can replace manual labor in high-altitude environments, effectively avoid the risk of falling from heights, and improve the safety and efficiency of operations.

[0003] However, existing wall-mounted work devices, especially large and heavy ones, lack sufficient obstacle-crossing capabilities. Some devices rely on integral movement, which can easily become stuck or unable to move when encountering obstacles. Others have complex obstacle-crossing structures, are cumbersome to operate, and have poor adaptability to obstacles, making it difficult to achieve obstacle-crossing operations for large and heavy wall-mounted work devices. The complex obstacle-crossing components exhibit unpredictable direction, angle, or position after successfully crossing an obstacle, easily interfering with the working mechanism or randomly obstructing parts of the working area, thus hindering intelligent operation and subsequent path planning. Summary of the Invention

[0004] To address the shortcomings of existing technologies, one of the objectives of this invention is to provide a wall-mounted work device with obstacle-crossing capabilities. This device can directionally cross obstacles along a linear path and work in conjunction with a work mechanism to improve work efficiency and reliability.

[0005] The technical solution of this invention is implemented as follows: A wall-mounted work device with obstacle-crossing capability includes a device body and further includes: Several obstacle-crossing components are connected to the device body, including a strip-shaped travel member and an obstacle-crossing execution component disposed on the strip-shaped travel member. The obstacle-crossing execution component includes a fixing part and a driving component. The driving component is connected between the strip-shaped travel member and the fixing part and is used at least to control the fixing part to move closer to or away from the wall. The fixing part is used to be detachably fixed to the wall. A connecting component for connecting the obstacle-crossing component and the device body, the connecting component enabling the device body to move relative to the corresponding obstacle-crossing component at least in the length direction of the strip-shaped travel member; A control mechanism is used to control the alternating action of the corresponding obstacle-crossing component and the connecting component to achieve obstacle-crossing operation; The working mechanism is connected to the main body of the device and is used for contact operations that can be detached from the wall surface, or for operations that are spaced a predetermined distance from the wall surface.

[0006] Preferably, the working mechanism includes a multi-axis robotic arm and a working execution component, wherein the multi-axis robotic arm is connected to the device body and the working execution component is connected to the free end of the multi-axis robotic arm.

[0007] Preferably, the obstacle-crossing component is connected to the side of the device body facing the wall, and the working mechanism is connected to the side of the device body facing away from the wall.

[0008] Preferably, each obstacle-crossing component has two obstacle-crossing actuators, which are located at both ends of the strip-shaped travel member.

[0009] Preferably, the driving assembly includes a folding assembly and a driving member, and the fixing part is an adsorption member; One end of the folding assembly is attached to the strip-shaped travel member, and the other end of the folding assembly is attached to the adsorption member; and The driving member is mounted on the strip-shaped travel member and configured to drive the folding assembly to perform an unfolding or folding action. When the folding assembly unfolds, the suction member moves away from the strip-shaped travel member; when the folding assembly folds, the suction member moves closer to the strip-shaped travel member.

[0010] Preferably, the folding assembly includes two folding arms that are arranged opposite to each other and move synchronously. The inner connecting ends of the two folding arms are hinged to the strip-shaped travel member, and the outer connecting ends of the two folding arms are hinged to the adsorption member. The driving member is used to drive the inner connecting ends of the two folding arms.

[0011] Preferably, the obstacle-crossing component includes a first obstacle-crossing component and a second obstacle-crossing component, and the connecting component includes a first connecting component for connecting the first obstacle-crossing component and the device body, and a second connecting component for connecting the second obstacle-crossing component and the device body.

[0012] Preferably, the device body is in the shape of a crossbeam, and the wall-mounted work device with obstacle-crossing function further includes a traction mechanism. The traction mechanism includes guide devices disposed on both sides of the crossbeam-shaped device body. The traction mechanism is used to drive the device body to translate relative to the wall in a direction parallel to the wall, and the translation direction is parallel to the length direction of the strip-shaped travel member of the first obstacle-crossing component.

[0013] Preferably, the connecting assembly includes a movable seat disposed on the device body, the movable seat being slidably connected to at least the strip-shaped travel member, the strip-shaped travel member having parallel guide grooves and a longitudinal rack formed in the length direction, the movable seat also being provided with a first motor seat, a first gear and a first sliding member, the first motor seat being used to drive the first gear meshing with the longitudinal rack, the first sliding member being embedded in the guide groove and being slidable relative to the guide groove.

[0014] Preferably, the movable seat includes a placement surface disposed relative to the wall surface, the first motor seat is formed on the placement surface, and the first gear is disposed close to the placement surface. A first bracket is also formed on the placement surface, and the side of the first bracket opposite to the guide groove is used to fix the first sliding member.

[0015] Preferably, the beam-shaped device body has a slide rail formed along its length, and the movable seat also has a slider formed in the direction opposite to the placement surface, the position of the slider corresponding to the position of the slide rail.

[0016] Preferably, the beam-shaped device body has a transverse rack parallel to the slide rail in the length direction, and a second motor seat and a second gear are also provided on the placement surface of the movable seat of the first connecting component. The second motor seat is used to drive the second gear that meshes with the transverse rack.

[0017] Preferably, the second connecting assembly further includes an adaptive reset assembly. The adaptive reset assembly includes a bearing housing disposed on the device body and a reset device connected to the bearing housing. The reset device is fixedly connected to the bearing housing and includes a transverse housing for accommodating the elastic element. It also includes an ejector that is movably connected to the transverse housing and driven by the elastic element. The ejector abuts against the side of the strip-shaped travel member of the second obstacle-crossing assembly or against the side of the movable seat of the second obstacle-crossing assembly.

[0018] Preferably, the bearing housing includes a base slidably connected to the device body, and a connecting seat fixedly connected to the transverse housing. The bottom of the movable seat of the second connecting assembly has a shaft sleeved in the bearing of the bearing housing, so that the movable seat of the second connecting assembly can rotate relative to the bearing housing and the device body. The ejector includes a push rod driven by an elastic member, and a connecting rod provided at the end of the push rod and corresponding to the shape of the strip-shaped travel member or the side of the movable seat of the second obstacle-crossing assembly.

[0019] Preferably, the beam-shaped device body has a slide rail formed in the length direction, and the connecting seat has a slider formed in the direction relative to the device body, the position of the slider corresponding to the position of the slide rail.

[0020] Compared with the prior art, the embodiments of the present invention have the following advantages: In this embodiment of the invention, several obstacle-crossing components can be alternately fixedly connected to the wall surface. With the help of the connecting components, the device body moves relative to the unfixed obstacle-crossing components. Then, through the precise control of the control mechanism, the obstacle-crossing components and the connecting components move alternately, which solves the defects of existing devices such as poor obstacle-crossing ability, easy jamming, complex obstacle-crossing structure, and cumbersome operation. The linear structure of the strip-shaped travel components provides a regular guiding path when the device body moves relative to each other along its length, ensuring precise and controllable movement without deviation. Its good rigidity and resistance to deformation also distributes loads, making it compatible with heavy and large-volume devices and preventing structural deformation and obstacle-crossing failure. Combined with the alternating control of the obstacle-crossing components and connecting components by the control mechanism, the device can directionally cross obstacles along a linear path, achieving coordinated actions, improving obstacle-crossing efficiency and reliability. It is suitable for high-rise building wall operations, balancing high-altitude work safety and wall-level work efficiency. Furthermore, this embodiment, by setting several obstacle-crossing components including strip-shaped travel components, and in conjunction with connecting components, enables the device body to cross obstacles along the length of the strip-shaped travel components. The direction, angle, and position of the obstacle-crossing components after completing obstacle crossing are highly standardized, allowing them to avoid the work area or, where obstruction of the work area is unavoidable, achieve regular movement, facilitating subsequent work path planning and intelligent operation of the working mechanism. 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 perspective view of a wall-mounted work device with obstacle-crossing function according to an embodiment of the present invention; Figure 2 for Figure 1 Another perspective of the 3D view, in which the operating mechanism is hidden; Figure 3 for Figure 2 A magnified view of a section at point A in the middle; Figure 4 for Figure 2 A magnified view of a section at point B in the middle; Figure 5 This is a perspective view of the strip-shaped travel member and the second connecting assembly according to an embodiment of the present invention; Figure 6 for Figure 5 A stereoscopic view from another perspective; Figure 7 for Figure 5 Exploded view; Figure 8for Figure 5 A perspective view showing the shaft body with the strip-shaped travel component and some parts hidden. Figure 9 This is a perspective view of the obstacle-crossing execution component according to an embodiment of the present invention. Detailed Implementation

[0023] 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.

[0024] 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.

[0025] 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.

[0026] Please see Figures 1 to 9 A wall-mounted work device with obstacle-crossing capability includes a device body 3, and further includes: A plurality of obstacle-crossing components 1 are connected to the device body 3, including a strip-shaped travel member 11 and an obstacle-crossing execution component 12 disposed on the strip-shaped travel member 11. The obstacle-crossing execution component 12 includes a fixing part 121 and a driving component 122. The driving component 122 is connected between the strip-shaped travel member 11 and the fixing part 121 and is at least used to control the fixing part 121 to move closer to or away from the wall. The fixing part 121 is used to be detachably fixedly connected to the wall. A connecting component for connecting the obstacle-crossing component 1 and the device body 3, the connecting component enabling the device body 3 to move relative to the corresponding obstacle-crossing component 1 at least in the length direction of the strip-shaped travel member 11; A control mechanism is used to control the alternating action of the corresponding obstacle-crossing component 1 and the connecting component to achieve obstacle-crossing operation; The working mechanism 7 is connected to the device body 3 and is used for contact operations that can be detached from the wall surface, or for operations that are spaced at a predetermined distance from the wall surface.

[0027] As a specific solution and not a limitation, the obstacle-crossing component includes a first obstacle-crossing component 1a and a second obstacle-crossing component 1b. The steps of the control mechanism controlling obstacle crossing in this embodiment include: The drive assembly of the first obstacle-crossing component 1a is deployed so that the fixing part of the first obstacle-crossing component 1a approaches the wall and is fixedly connected to the wall. The drive component of the second obstacle-crossing component 1b is controlled to retract so that the fixing part of the second obstacle-crossing component 1b is away from the wall, and the distance between the fixing part of the second obstacle-crossing component 1b and the wall is greater than the height of the wall obstacle. The connection component between the second obstacle-crossing component 1b and the device body 3 is locked, while the device body 3 is moved relative to the first obstacle-crossing component 1a in the length direction of the strip-shaped travel member 11 of the first obstacle-crossing component 1a. After the second obstacle-crossing component 1b has at least partially crossed the height of the wall obstacle, the drive component of the second obstacle-crossing component 1b is deployed so that the fixing part of the second obstacle-crossing component 1b approaches the wall and is fixedly connected to the wall. The drive component of the first obstacle-crossing component 1a is controlled to retract so that the fixed part of the first obstacle-crossing component 1a is away from the wall, and the distance between the fixed part of the first obstacle-crossing component 1a and the wall is greater than the height of the wall obstacle. The connection component between the first obstacle-crossing component 1a and the device body 3 is locked, while the device body 3 is moved relative to the second obstacle-crossing component 1b in the length direction of the strip-shaped travel member 11 of the second obstacle-crossing component 1b. Once the first obstacle-crossing component 1a has at least partially crossed the height of the wall obstacle, the above steps are repeated.

[0028] The above-mentioned obstacle-crossing method can effectively solve the problems of poor obstacle-crossing ability, easy jamming, and complex and cumbersome structure of existing devices, ensuring accurate, continuous, safe and reliable obstacle-crossing actions in high-altitude wall operations, while taking into account both work efficiency and stability.

[0029] As a preferred embodiment and not a limitation, the working mechanism 7 in this embodiment includes a multi-axis robotic arm 71 and a work execution component 72. The multi-axis robotic arm 71 is connected to the device body 3, and the work execution component 72 is connected to the free end of the multi-axis robotic arm 71. Specifically, taking a cleaning device as an example, the multi-axis robotic arm 71 can be a seven-axis robotic arm to achieve large-scale, multi-angle, and full-coverage cleaning / wiping operations on the wall surface.

[0030] Preferably, the obstacle-crossing component is connected to the side of the device body 3 facing the wall, and the working mechanism 7 is connected to the side of the device body 3 facing away from the wall. This embodiment, by placing the obstacle-crossing component and the working mechanism 7 on opposite sides of the device body 3, further avoids interference between the working mechanism 7 and the obstacle-crossing component during operation, thus improving operational efficiency and reliability.

[0031] Preferably, each obstacle-crossing component has two obstacle-crossing actuation parts 12, which are located at both ends of the strip-shaped travel member 11. The obstacle-crossing actuation parts 12 located at both ends of the strip-shaped travel member 11 can effectively distribute the load. At the same time, through the combined action of the obstacle-crossing actuation parts 12 of multiple strip-shaped travel members 11, the adhesion of the wall-working device to the wall surface can be ensured during obstacle crossing and operation, further improving work efficiency and reliability.

[0032] As a specific embodiment and not a limitation, the obstacle-crossing assembly includes a first obstacle-crossing assembly 1a and a second obstacle-crossing assembly 1b. The connecting assembly includes a first connecting assembly for connecting the first obstacle-crossing assembly 1a and the device body 3, and a second connecting assembly for connecting the second obstacle-crossing assembly 1b and the device body 3. During obstacle crossing, the control mechanism alternately controls the states of the first obstacle-crossing assembly 1a and the first connecting assembly, as well as the second obstacle-crossing assembly 1b and the second connecting assembly, to achieve translation of the device body 3 while some obstacle-crossing components are fixed relative to the wall surface.

[0033] Preferably, the number of the first obstacle-crossing components 1a is even, the strip-shaped travel members 11 of all the first obstacle-crossing components 1a are arranged in parallel, and all the first obstacle-crossing components 1a are symmetrically arranged on the device body 3. By arranging the strip-shaped travel members 11 of all the first obstacle-crossing components 1a in parallel and symmetrically arranging all the first obstacle-crossing components 1a on the device body 3, the center of gravity of the wall-mounted work device with obstacle-crossing function is effectively balanced while ensuring the smoothness of the obstacle-crossing device's translation.

[0034] Preferably, the connecting component includes a movable seat 2 disposed on the device body 3, the movable seat 2 being at least slidably connected to the strip-shaped travel member 11 in a lockable manner. This lockable slidable connection between the movable seat 2 and the strip-shaped travel member 11 allows for two main benefits: firstly, it enables a rigid connection during obstacle crossing by locking, ensuring precise movement of the device body 3 along the linear path of the strip-shaped travel member 11; secondly, it allows for flexible switching to a new path after unlocking, achieving seamless transition of the obstacle crossing components; and thirdly, in high-altitude scenarios, it locks the device body 3 to prevent accidental sliding, distributing weight loads and reducing safety hazards.

[0035] As a specific solution rather than a limitation, taking the cleaning device as an example of the working structure of this embodiment, this embodiment configures the device body 3 as a beam shape, which can be used to store cleaning liquid or wastewater. The structural strength of the device body 3 is increased by setting a reinforcing member in the beam-shaped device body 3. Based on the above modifications, the wall operation device with obstacle crossing function in this embodiment is based on a larger weight. When applied to a wall operation device with obstacle crossing function with a larger weight, the wall operation device with obstacle crossing function can also include a traction mechanism 8. The traction mechanism 8 includes guide devices provided on both sides of the beam-shaped device body 3. The traction mechanism 8 is used to drive the device body 3 to translate relative to the wall in a direction parallel to the wall, and the translation direction is parallel to the length direction of the strip-shaped travel member 11 of the first obstacle crossing component 1a. The guide devices located on both sides of the device body 3 can stably drive the device body 3 to translate in a direction parallel to the wall, helping the device to operate efficiently. At the same time, the translation direction is parallel to the length direction of the strip-shaped stroke member 11 of the first obstacle crossing component 1a, which can make the obstacle crossing action and the translation action work together, reduce motion interference, and significantly improve the continuity and overall efficiency of the device in obstacle crossing and translation.

[0036] As a preferred embodiment and not a limitation, the strip-shaped travel member 11 has parallel guide grooves 111 and longitudinal racks 112 formed along its length. The movable seat also has a first motor base 4, a first gear 5, and a first sliding member 6. The first motor base 4 is used to drive the first gear 5, which meshes with the longitudinal rack 112. The first sliding member 6 is embedded in the guide grooves 111 and can slide relative to the guide grooves 111. In this embodiment, the first sliding member 6 is embedded in the guide grooves 111 and can slide relative to them, forming a synergy with the drive structure of the gear and rack. This not only precisely limits the movement trajectory of the component through the guide grooves 111 to prevent deviation, but also reduces the frictional resistance during component movement, making the overall movement smoother and more stable, effectively improving the reliability and stability of the component operation. Preferably, the first sliding member 6 in this embodiment can be a pulley system. Compared with a slider, a 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 wall-mounted work device with obstacle-crossing function.

[0037] Preferably, the movable seat 2 includes a placement surface 21 disposed relative to the wall surface, the first motor seat 4 is formed on the placement surface 21, and the first gear 5 is disposed close to the placement surface 21. A first bracket 22 is also formed on the placement surface 21 of the movable seat 2, and the side of the first bracket 22 opposite to the guide groove 111 is used to fix the first sliding member 6. In this embodiment, the first gear 5 and the first sliding member 6 can be located on the same side of the strip-shaped travel member 11, and the first sliding member 6 is disposed closer to the wall surface relative to the first gear 5. This ensures both a compact structure and dynamic structural strength, further improving the reliability and stability of the component operation.

[0038] Preferably, the beam-shaped device body 3 has a transverse rack 32 parallel to the slide rail 31 along its length. A second motor mount 24 and a second gear 25 are also provided on the placement surface 21 of the movable seat 2 of the first connecting component. The second motor mount 24 drives the second gear 25, which meshes with the transverse rack 32. The meshing transmission between the second gear 25 and the transverse rack 32 provides a precise and reliable driving force for the relative movement of the device body 3 and the movable seat 2, avoiding power loss. Simultaneously, the parallel slide rail 31 and slider 23 structure together ensure the stability and precision of the beam-shaped device body moving relative to the movable seat 2 while bearing a large weight.

[0039] Preferably, the number of the second obstacle-crossing components 1b is even, and all the second obstacle-crossing components 1b are symmetrically arranged on the device body 3. Specifically, as shown in... Figure 1 As shown, in this embodiment, there are two of each of the first obstacle-crossing component 1a and the second obstacle-crossing component 1b, and the first obstacle-crossing component 1a is located outside the second obstacle-crossing component 1b. Each of the first obstacle-crossing component 1a and the second obstacle-crossing component 1b has two obstacle-crossing execution parts 12, which are located at both ends of the strip-shaped travel member 11. In this embodiment, the strip-shaped travel member 11 is a sliding rod.

[0040] Furthermore, in an improved embodiment, the second connection assembly further includes an adaptive reset assembly 9. The adaptive reset assembly 9 includes a bearing seat 91 disposed on the device body 3, and a reset device 92 connected to the bearing seat 91. The reset device 92 is fixedly connected to the bearing seat 91 and includes a transverse housing 921 for accommodating an elastic element, and an ejector 922 movably connected to the transverse housing 921 and driven by the elastic element. The ejector 922 abuts against the side of the strip-shaped travel member 11 of the second obstacle-crossing assembly 1b, or the ejector 922 abuts against the side of the movable seat 2 of the second obstacle-crossing assembly 1b.

[0041] Specifically, the bearing housing 91 includes a base 911 that is slidably connected to the device body 3, and a connecting seat 912 that is fixedly connected to the transverse housing 921. The bottom of the movable seat 2 of the second connecting component has a shaft 26 sleeved in the bearing of the bearing housing 91, so that the movable seat 2 of the second connecting component can rotate relative to the bearing housing 91 and the device body 3.

[0042] Preferably, the beam-shaped device body 3 has a slide rail 31 formed along its length, and the connecting seat 912 also has a slider 23 formed in the direction relative to the device body. The position of the slider 23 corresponds to the position of the slide rail. The corresponding cooperation structure of the slider 23 and the slide rail 31 allows for a tighter and more flexible connection between the movable seat 2 and the device body 3. This ensures the structural stability of the two during relative movement, distributes the load transmitted by the movable seat 2 (such as the weight of the obstacle-crossing component and external forces during operation), avoids excessive local structural stress leading to damage, and reduces frictional resistance during relative movement, thereby reducing component wear and ensuring the service life of the wall-mounted work device with obstacle-crossing function in this embodiment.

[0043] When the device body 3 swings slightly, the movable seat 2 of the second connecting component on the device body 3 will rotate relative to the bearing seat 91. During the relative rotation, the elastic element undergoes elastic deformation, converting the kinetic energy of rotation into the elastic potential energy of the elastic element. When the factors causing the slight swing of the device body 3 are eliminated, the elastic potential energy of the elastic element is released, so as to push the bearing seat 91 and the movable seat 2 of the second connecting component to rotate in opposite directions, so as to achieve the purpose of resetting the device body 3 and the second obstacle-crossing component 1b to the normal assembly state.

[0044] Through the above structure, the device body 3 and the second obstacle-crossing component 1b have a degree of freedom to rotate relative to each other. At the same time, the bearing seat 91 is slidably mounted on the device body 3, thus giving the device body 3 and the second obstacle-crossing component 1b a degree of freedom to rotate relative to each other and a degree of freedom to move laterally along the device body 3. Therefore, when the machine body sways slightly due to cleaning / maintenance operations or other working conditions, the rotational and lateral degrees of freedom between the device body 3 and the second obstacle-crossing component 1b allow for rotation and relative movement at a certain angle. This prevents the slight swaying of the device body 3 from affecting the rotation or movement of the second obstacle-crossing component 1b, thereby reducing the impact of the device body 3 on the swaying of the second obstacle-crossing component 1b. This avoids the problem of the swaying device body 3 pulling or twisting the obstacle-crossing execution component 12, improving the stability of the obstacle-crossing execution component 12 on the wall surface, and thus ensuring work efficiency.

[0045] Furthermore, the ejector 922 includes a push rod 922a driven by an elastic element, and a connecting rod 922b disposed at the end of the push rod 922a and corresponding to the side shape of the strip-shaped travel member 11 of the second obstacle-crossing assembly 1b or the movable seat 2 of the second connecting assembly. Specifically, in this embodiment, there are two elastic elements, which are arranged side by side in the direction extending from the side of the strip-shaped travel member 11 or the movable seat 2 of the second connecting assembly. The elastic element is a compression spring, and the longitudinal width of the connecting rod 922b is greater than the longitudinal width of the transverse housing 921. Regardless of the direction (clockwise or counterclockwise) in which the movable seat 2 of the second connecting assembly rotates relative to the bearing seat, a portion of the springs inside the transverse housing 921 will always be compressed and elastically deformed. When the operating conditions affecting the body sway disappear, this compressed spring will release its elastic potential energy to drive the movable seat 2 of the second connecting assembly and the bearing seat 91 back to their stable assembly state. That is to say, no matter how the movable seat 2 of the second connecting assembly and the bearing seat 91 rotate relative to each other, both can be reset after the swaying factors disappear. At the same time, the fact that a portion of the springs are always compressed also indicates that no matter how the movable seat 2 of the second connecting assembly and the bearing seat 91 rotate relative to each other, the elastic element can convert the kinetic energy of mutual rotation into elastic potential energy by compressing the springs, so as to reduce the amplitude of relative rotation. Therefore, the connecting rod 922b can play a role in ensuring the reset stability and sway reduction stability of the elastic element.

[0046] In traditional operations, wall-climbing robots are often designed with multiple sets of moving rods that alternate in motion to achieve climbing. The structures on these moving rods used to raise or lift the fixed parts are typically straight rods with tracks. The fixed parts are attached to the ends of these straight rods. When the fixed parts are raised, the corresponding straight rods must be raised a corresponding distance. This raised straight rods encroach on the working space of the robot's components, inevitably causing structural and kinematic interference between these rods and the robot's working parts in some situations, thus affecting normal operation.

[0047] In view of the above-mentioned defects, in an improved embodiment, the driving component 122 includes a folding component 122a and a driving member 122b, and the fixing part 121 is an adsorption member; One end of the folding assembly 122a is mounted on the strip-shaped travel member 11, and the other end of the folding assembly 122a is mounted on the adsorption member; and The driving component 122b is mounted on the strip-shaped travel component 11 and configured to drive the folding assembly 122a to perform an unfolding or folding action. When the folding assembly 122a unfolds, the adsorption member moves away from the strip-shaped travel member 11; when the folding assembly 122a folds, the adsorption member moves closer to the strip-shaped travel member 11.

[0048] This embodiment reduces the space occupied by the obstacle-crossing execution component 12 by folding, thereby avoiding the problem that the obstacle-crossing execution component 12 will rise accordingly as the adsorption component rises. The unfolding or folding of the folding component 122a will not encroach on the working space of the wall-climbing robot's working components, thus ensuring the working efficiency of the cleaning robot.

[0049] The folding assembly 122a includes two folding arms that are arranged opposite to each other and move synchronously. The inner connecting ends of the two folding arms are hinged to the strip-shaped travel member 11, and the outer connecting ends of the two folding arms are hinged to the adsorption member. The driving member 122b is used to drive the inner connecting ends of the two folding arms.

[0050] Specifically, each folding arm includes an active arm directly driven by the drive member 122b, and a driven arm connected between the active arm and the inner connecting end. The active arm and the driven arm are hinged to each other, and a receiving groove is provided on the active arm or the driven arm to avoid interference between the active arm and the driven arm when they are folded relative to each other, and to save space occupied by the folding assembly 122a.

[0051] In this embodiment, by confining the two folding arms within the space from the inner joint end to the outer joint end, the entire stroke of the drive component and the fixing component is located within the space between the device body 3 and the wall. Within the range of motion of the drive component and the fixing component, it is not easy for them to interfere with or collide with the working mechanism 7. Obstacle avoidance operation is only required when the working mechanism 7 is close to the wall and located in the space near the drive component and the fixing component. In this embodiment, the range of motion of the folding arms and the fixing component is limited to the length direction of the strip stroke component, which has high predictability. This makes the obstacle avoidance operation of the working mechanism 7 simpler and more convenient, and facilitates subsequent work path planning and intelligent operation of the working mechanism 7.

[0052] In summary, the obstacle-crossing components of this invention can be alternately fixedly connected to the wall surface. The connecting components enable the device body to move relative to the unfixed obstacle-crossing components. Furthermore, through the precise control of the control mechanism, the obstacle-crossing components and the connecting components can move alternately, thus solving the defects of existing devices such as poor obstacle-crossing ability, easy jamming, complex obstacle-crossing structure, and cumbersome operation. The linear structure of the strip-shaped travel components provides a regular guiding path when the device body moves relative to each other along its length, ensuring precise and controllable movement without deviation. Its good rigidity and resistance to deformation also distributes loads, making it compatible with heavy and large-volume devices and preventing structural deformation and obstacle-crossing failure. Combined with the alternating control of the obstacle-crossing components and connecting components by the control mechanism, the device can directionally cross obstacles along a linear path, achieving coordinated actions, improving obstacle-crossing efficiency and reliability. It is suitable for high-rise building wall operations, balancing high-altitude work safety and wall-level work efficiency. Furthermore, this embodiment, by setting several obstacle-crossing components including strip-shaped travel components, and in conjunction with connecting components, enables the device body to cross obstacles along the length of the strip-shaped travel components. The direction, angle, and position of the obstacle-crossing components after completing obstacle crossing are highly standardized, allowing them to avoid the work area or, where obstruction of the work area is unavoidable, achieve regular movement, facilitating subsequent work path planning and intelligent operation of the working mechanism.

[0053] 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 wall-mounted work device with obstacle-crossing function, comprising a device body, characterized in that, Also includes: Several obstacle-crossing components are connected to the device body, including a strip-shaped travel member and an obstacle-crossing execution component disposed on the strip-shaped travel member. The obstacle-crossing execution component includes a fixing part and a driving component. The driving component is connected between the strip-shaped travel member and the fixing part and is used at least to control the fixing part to move closer to or away from the wall. The fixing part is used to be detachably fixed to the wall. A connecting component for connecting the obstacle-crossing component and the device body, the connecting component enabling the device body to move relative to the corresponding obstacle-crossing component at least in the length direction of the strip-shaped travel member; A control mechanism is used to control the alternating action of the corresponding obstacle-crossing component and the connecting component to achieve obstacle-crossing operation; The working mechanism is connected to the main body of the device and is used for contact operations that can be detached from the wall surface, or for operations that are spaced a predetermined distance from the wall surface.

2. The wall-mounted work device with obstacle-crossing function according to claim 1, characterized in that, The working mechanism includes a multi-axis robotic arm and a working execution component. The multi-axis robotic arm is connected to the main body of the device, and the working execution component is connected to the free end of the multi-axis robotic arm.

3. The wall-mounted work device with obstacle-crossing function according to claim 1, characterized in that, The obstacle-crossing component is connected to the side of the device body facing the wall, and the working mechanism is connected to the side of the device body facing away from the wall.

4. The wall-mounted work device with obstacle-crossing function according to claim 1, characterized in that, Each obstacle-crossing component has two obstacle-crossing actuators, which are located at both ends of the strip-shaped travel member.

5. The wall-mounted work device with obstacle-crossing function according to claim 1, characterized in that, The driving assembly includes a folding assembly and a driving component, and the fixing part is an adsorption component; One end of the folding assembly is attached to the strip-shaped travel member, and the other end of the folding assembly is attached to the adsorption member; as well as The driving member is mounted on the strip-shaped travel member and configured to drive the folding assembly to perform an unfolding or folding action. When the folding assembly unfolds, the suction member moves away from the strip-shaped travel member; when the folding assembly folds, the suction member moves closer to the strip-shaped travel member.

6. The wall-mounted work device with obstacle-crossing function according to claim 5, characterized in that, The folding assembly includes two folding arms that are arranged opposite each other and move synchronously. The inner connecting ends of the two folding arms are hinged to the strip-shaped travel member, and the outer connecting ends of the two folding arms are hinged to the adsorption member. The driving member is used to drive the inner connecting ends of the two folding arms.

7. The wall-mounted work device with obstacle-crossing function according to any one of claims 1 to 6, characterized in that, The obstacle-crossing component includes a first obstacle-crossing component and a second obstacle-crossing component. The connecting component includes a first connecting component for connecting the first obstacle-crossing component and the device body, and a second connecting component for connecting the second obstacle-crossing component and the device body.

8. The wall-mounted work device with obstacle-crossing function according to claim 7, characterized in that, The device body is in the shape of a crossbeam. The wall-mounted working device with obstacle-crossing function also includes a traction mechanism. The traction mechanism includes guide devices on both sides of the crossbeam-shaped device body. The traction mechanism is used to drive the device body to translate relative to the wall in a direction parallel to the wall, and the translation direction is parallel to the length direction of the strip-shaped travel member of the first obstacle-crossing component.

9. The wall-mounted work device with obstacle-crossing function according to claim 8, characterized in that, The connecting assembly includes a movable seat disposed on the device body. The movable seat is slidably connected to the strip-shaped travel member in a lockable manner. The strip-shaped travel member has parallel guide grooves and a longitudinal rack formed in the length direction. The movable seat is also provided with a first motor seat, a first gear and a first sliding member. The first motor seat is used to drive the first gear that meshes with the longitudinal rack. The first sliding member is embedded in the guide groove and can slide relative to the guide groove.

10. The wall-mounted work device with obstacle-crossing function according to claim 9, characterized in that, The movable seat includes a placement surface disposed relative to the wall surface, the first motor seat is formed on the placement surface, and the first gear is disposed close to the placement surface. A first bracket is also formed on the placement surface, and the side of the first bracket opposite to the guide groove is used to fix the first sliding member.

11. The wall-mounted work device with obstacle-crossing function according to claim 10, characterized in that, The beam-shaped device body has a transverse rack parallel to the slide rail in the length direction. The placement surface of the movable seat of the first connecting component is also provided with a second motor seat and a second gear. The second motor seat is used to drive the second gear that meshes with the transverse rack.

12. The wall-mounted work device with obstacle-crossing function according to claim 11, characterized in that, The second connection assembly further includes an adaptive reset assembly, which includes a bearing housing disposed on the device body and a reset device connected to the bearing housing. The reset device is fixedly connected to the bearing housing and includes a transverse housing for accommodating the elastic element. It also includes an ejector that is movably connected to the transverse housing and driven by the elastic element. The ejector abuts against the side of the strip-shaped travel member of the second obstacle-crossing assembly, or the ejector abuts against the side of the movable seat of the second obstacle-crossing assembly.

13. The wall-mounted work device with obstacle-crossing function according to claim 12, characterized in that, The bearing housing includes a base that is slidably connected to the device body, and a connecting seat that is fixedly connected to the transverse housing. The bottom of the movable seat of the second connecting component has a shaft sleeved in the bearing of the bearing housing, so that the movable seat of the second connecting component can rotate relative to the bearing housing and the device body. The ejector includes a push rod driven by an elastic member, and a connecting rod provided at the end of the push rod and corresponding to the shape of the strip-shaped travel member or the side of the movable seat of the second obstacle-crossing component.

14. The wall-mounted work device with obstacle-crossing function according to claim 13, characterized in that, The beam-shaped device body has a slide rail formed along its length, and the connecting seat has a slider formed in the direction relative to the device body, the position of the slider corresponding to the position of the slide rail.

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