Rope moving machine and multi-machine moving system

Abstract

The application discloses a rope moving machine and a multi-machine moving system, the rope moving machine comprises a machine body, a rope mechanism and a surface connecting mechanism connected with the machine body; the rope mechanism comprises a rope winding and unwinding mechanism and a rope, the rope winding and unwinding mechanism is connected with the rope, and the surface connecting mechanism connects the rope with an object, thereby forming one or more connecting points on the object; the connecting points bear part or all gravity of the machine body through the rope; and the rope winding and unwinding mechanism can change the length of the rope between the connecting points and the machine body. The machine and the system can solve the technical problems of high power consumption, loud noise and limited movement range in the prior art by imitating the movement mode of spiders in silk spinning and drawing.

Description

[0001] This application is a divisional application of the patent application with the application number 202210000130X, the application date of January 2, 2022, and the invention title of "Rope Mobile Machine and Multi-machine Mobile System". TECHNICAL FIELD

[0002] The present application belongs to the field of adsorption and movement, and relates to a rope mobile machine and a multi-machine mobile system. BACKGROUND

[0003] When the machine moves and works on the inclined surface, the component force of the machine's gravity in the direction of the inclined surface will cause the machine to fall. In order to overcome the component force of gravity in the direction of the inclined surface, the technicians usually install an adsorption mechanism on the machine. The invention patent application 202111135155.2 discloses a machine car with reverse thrust adsorption. The machine car has a wheeled mobile car body and a reverse thrust adsorption mechanism, and can move on an inclined or vertical wall surface. The reverse thrust adsorption mechanism is installed on the wheeled mobile car body. The reverse thrust adsorption mechanism uses high-speed rotating blades to generate a reverse thrust, so that the robot is adsorbed on the wall surface. The contact force between the wheels and the wall surface is generated, thereby generating a friction force. The friction force overcomes the gravity of the robot and provides driving force for the movement of the robot. This type of wall climbing robot has the following disadvantages:

[0004] (1) High energy consumption

[0005] The reverse thrust adsorption mechanism must always consume energy to maintain the adsorption force, so that the robot is adsorbed on the inclined surface. If the machine car uses a battery to provide power, the high energy consumption of the reverse thrust adsorption mechanism will greatly shorten the battery life, and the machine car cannot stay and work on the inclined surface for a long time.

[0006] (2) High noise

[0007] The mechanical movement and airflow movement of the reverse thrust adsorption mechanism will produce high-decibel mechanical noise and air noise. The greater the adsorption force, the greater the noise. When the machine car performs some special work tasks on the inclined surface (such as anti-terrorism reconnaissance), the high-decibel noise will expose the whereabouts of the machine car.

[0008] In order to reduce energy consumption and noise, the technicians have developed high-altitude working machines that use rope suspension. For example, a rope winding mechanism is fixed above the inclined surface, and the rope winding mechanism can wind and unwind the rope. One end of the rope is connected to the working machine. The working machine can move in the direction of suspension. In order to enable the working machine to realize two-dimensional movement on the wall surface, the invention patent application 202110088053.3 further proposes a multi-rope suspension scheme( Figure 1 ). However, the multi-rope suspension high-altitude working machine has the following disadvantages:

[0009] (1) In the prior art, multiple rope winding mechanisms are fixed above the wall surface, which makes the operation process cumbersome and difficult to operate.

[0010] (2) The moving range of the aerial work machine is limited by the rope winding mechanism. For example, in Figure 1 , the lateral moving range of the aerial work machine 100 can only be between two rope winding mechanisms 400. Moreover, the aerial work machine can only move on one wall surface and cannot cross the adjacent right-angle wall surface. For example, in Figure 1 , the aerial work machine 100 can only move on the wall surface A and cannot move to the wall surface B. SUMMARY

[0011] The present application aims to solve the technical problems of high power consumption, high noise, and limited movement range in the prior art (such as the inclined surface moving robot) by providing a rope moving machine and a multi-machine moving system that mimic the movement of spider silk and silk drawing.

[0012] The present application achieves the above-mentioned purposes in the following way:

[0013] A rope moving machine, comprising a machine body capable of moving on an object, and a rope mechanism and a surface connecting mechanism connected to the machine body. The rope mechanism comprises a rope winding mechanism and a rope, and the rope winding mechanism is connected to the rope. The surface connecting mechanism connects the rope to the object to form one or more connection points on the object, and the connection points bear part or all of the gravity of the machine body through the rope. The rope winding mechanism can change the length of the rope between the connection points and the machine body.

[0014] Further, the surface connecting mechanism can use an adhesive to adhere the rope to the object.

[0015] Further, the surface connecting mechanism can also use a mechanical connection method to connect the rope to the object. Further, the surface connecting mechanism can be fixed to the object by nailing the rope. The surface connecting mechanism can also include one or more hooks fixed at different positions of the rope, and the hooks are hung on the object to form the connection points.

[0016] Further, the surface connecting mechanism can also include a connection release mechanism for releasing the connection between the rope and the object.

[0017] Further, the surface connecting mechanism can also include a rope clamping mechanism capable of clamping the rope to form a tensioned part and a relaxed part of the rope.

[0018] Further, the machine body further comprises an adsorption mechanism for adsorbing the machine body on the object.

[0019] Further, the machine body further comprises a moving mechanism for driving the machine body to move on the object.

[0020] Further, the surface connecting mechanism comprises a mechanical arm, an adhesive nozzle, a nozzle push rod, and a rope clamping mechanism. The rope clamping mechanism is used for clamping the rope to form a tensioned part and a relaxed part. The mechanical arm is connected to the machine body through a rotating shaft. The adhesive nozzle and the nozzle push rod are arranged on the mechanical arm and used for adhering the relaxed rope on the object.

[0021] The multi-machine moving system of the present application comprises two or more rope moving machines as described above, and at least two different rope moving machines are connected to each other through machine connecting ropes, and the length of the machine connecting ropes is adjustable.

[0022] Compared with the prior art, the rope moving machine and the multi-machine moving system of the present application have the following advantages:

[0023] The rope moving machine of the present application can move on the vertical or inclined object surface of the object without the adsorption mechanism. Even if the adsorption mechanism is used, the rope moving machine of the present application only needs to provide a weak adsorption force to meet the working requirements. Therefore, the rope moving machine of the present application does not have a high-power adsorption mechanism, and thus does not have high-speed mechanical movement and gas flow, so as to not generate mechanical loss and fluid flow loss, and thus not generate mechanical noise and air noise, or far lower than the machines of the prior art. In addition, the rope moving machine of the present application can connect the ropes at multiple positions of the object to form multiple connection points, so as to cross two object surfaces that are not coplanar, and can be kept on the vertical or inclined object surface for a long time under zero power consumption. Moreover, the multi-machine moving system formed by the cooperation between the rope moving machines can realize efficient movement on the object. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a scheme in the prior art;

[0025] Figure 2 It is a side view structural schematic diagram of the rope moving machine embodiment 1 of the present application;

[0026] Figure 3 It is a front view structural schematic diagram of the rope moving machine embodiment 1 of the present application;

[0027] Figure 4 It is a schematic diagram of the rope clamping mechanism in the rope moving machine embodiment 1 of the present application, which isFigure 2 Partial view from above;

[0028] Figures 5a to 5e Working process of the rope moving machine of embodiment 1 of the present application; wherein Figure 5a State of the rope clamping mechanism after clamping the rope; Figure 5b Rotation of the mechanical arm; Figure 5c Process of forming the connection point; Figure 5d Rope clamping by the rope clamping mechanism added on the push rod of the nozzle; Figure 5e State of the rope clamping mechanism after releasing the rope after forming the connection point;

[0029] Figure 6 And Figure 7 Connection of the rope and the surface of the object by using nails;

[0030] Figures 8a to 8c Working process of the rope moving machine of embodiment 2 of the present application; wherein Figure 8a State of the rope moving machine on the surface 1 of the object; Figure 8b State of the rope moving machine moving to the surface 2 of the object; Figure 8c State of the rope moving machine after forming a new connection point on the surface 2 of the object;

[0031] Figure 9 Structure of the rope moving machine of embodiment 3 of the present application;

[0032] Figure 10 , Figure 11 Working process of the rope moving machine of embodiment 4 of the present application moving from the surface 1 of the object to the surface 2 of the object; wherein Figure 10 State of the mechanical arm after rotation; Figure 11 State of the mechanical arm plate 2 after rotation to the desired position;

[0033] Figure 12 Transverse moving method of the rope moving machine of embodiment 5 of the present application;

[0034] Figure 13 Structure of the multi-machine moving system of embodiment 6 of the present application;

[0035] Figure 14 Working process of the multi-machine moving system of embodiment 6 of the present application;

[0036] In the figure, 100: rope moving machine, 100-1: first rope moving machine, 100-2: second rope moving machine, 110: machine body, 111: vehicle body, 112: wheel, 113: suction mechanism, 120: surface connecting mechanism, 121: mechanical arm, 121-1: rope passing hole, 121-2: mechanical arm rotation shaft, 121-3: first mechanical arm plate, 121-4: second mechanical arm plate, 121-5: joint rotation shaft motor, 122: hot melt glue nozzle, 122-1: nail emitter, 122-2: nail, 123: nozzle push rod, 123-1: rope clamp, 124: rope clamping mechanism, 124-1: rope clamping pliers, 124-2: plier blade, 130: rope mechanism, 131: rope, 132: rope winding and unwinding mechanism, 132-1: rope winding machine, 140: connection releasing mechanism, 200: connection point, 210: first sticking point, 220: second sticking point, 230: sticking point, 240: first sticking point, 250: second sticking point, 300: surface of object, 310: first object surface, 320: second object surface, 330: third object surface, 400: machine connection rope, 410: rope winding machine. DETAILED DESCRIPTION

[0037] In order to make the technical problems to be solved by the present application, technical solutions and beneficial effects more clear, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application, and are not used to limit the present application.

[0038] Example 1

[0039] The rope moving machine 100 of the present application comprises a machine body 110, a surface connecting mechanism 120 and a rope mechanism 130. The rope mechanism 130 comprises a rope 131 and a rope winding and unwinding mechanism 132. The surface connecting mechanism 120 is installed on the machine body 110, and the surface connecting mechanism 120 can connect the rope to one or more positions on the surface of an object 300 (hereinafter referred to as object surface), thereby forming one or more connection points 200 on the object surface. The rope mechanism 130 connects the machine body 110 and the connection points 200 on the object surface, and the rope winding and unwinding mechanism 132 can change the length of the rope 131 between the machine body 110 and the connection points 200. The connection points 200 bear part or all of the gravity of the machine body 110 through the rope 131.

[0040] In the present embodiment, Figure 2 and Figure 3), the machine body 110 is a vehicle body 111 installed with four driving wheels 112. The rope winding and unwinding mechanism 132 is a rope winding machine 132-1 installed on the vehicle body 111. Inside the rope winding machine, there is a winding wheel, and one end of the rope is connected to the winding wheel. By controlling the forward and reverse rotation of the winding wheel, the rope can be wound and unwound. In this embodiment, the surface connecting mechanism 120 uses an adhesive to adhere the rope to the surface of the object. The adhesive is hot melt adhesive. The hot melt adhesive is heated to become a molten adhesive in liquid state, which can be sprayed. After the molten adhesive cools down, it becomes a solid, which can generate adhesive force to connect the rope 131 and the surface of the object. The surface connecting mechanism 120 is composed of a mechanical arm 121, a hot melt adhesive spray head 122, a spray head push rod 123, and a rope clamping mechanism 124. The mechanical arm 121 is a long strip-shaped plate. One end of the mechanical arm 121 is provided with the spray head push rod 123, and the front end of the spray head push rod 123 is provided with the hot melt adhesive spray head 122. The hot melt adhesive spray head 122 has the functions of heating and spraying the molten adhesive. The rope passes through the rope passing hole 121-1 on the mechanical arm 121. The other end of the mechanical arm 121 is connected to the vehicle body 111 through the mechanical arm rotating shaft 121-2. The mechanical arm rotating shaft 121-2 can drive the mechanical arm 121 to rotate. The surface connecting mechanism 120 also includes a rope clamping mechanism 124, which can clamp the rope to form a tensioned part and a relaxed part of the rope 131. In this embodiment, the rope clamping mechanism 124 is a rope clamp 124-1. As shown in Figure 4 , the rope clamp 124-1 is composed of two clamping pieces 124-2 that can rotate. When the two clamping pieces 124-2 are opened, the rope clamp 124-1 does not clamp the rope 131. When the two clamping pieces 124-2 are closed, the rope 131 is clamped by the rope clamp 124-1.

[0041] In this embodiment, the rope moving machine uses hot melt adhesive to adhere the rope to the surface of the object. Assuming that the machine is hung by the rope on an inclined object surface, under the action of gravity, the rope is in a taut state. Figure 5 shows the process of adhering the rope to the surface of the object.

[0042] (1) As shown in Figure 5a , the rope clamp 124-1 clamps the rope 131. Then, the rope winding machine 132-1 unwinds the rope 131. As a result, the rope between the rope clamp 124-1 and the rope winding machine 132-1 is in a relaxed state, while the upper part of the rope of the rope clamp 124-1 is still in a taut state.

[0043] (2) As shown in Figure 5b , the mechanical arm 121 swings to the designated position. Because the rope passes through the rope passing hole 121-1 on the mechanical arm 121, the mechanical arm 121 can pull the rope to rotate together. Because the rope between the rope clamp 124-1 and the rope winding machine 132-1 is in a relaxed state, the relaxed rope does not hinder the rotation of the mechanical arm 121.

[0044] (3) Figure 5c As shown, the nozzle push rod 123 extends, driving the hot melt adhesive nozzle 122 forward. Simultaneously, the hot melt adhesive nozzle 122 sprays a small amount of high-temperature molten adhesive, which adheres the rope at the front end of the rope threading hole 121-1 to the front end of the hot melt adhesive nozzle 122. Next, the nozzle push rod 123 continues to extend, causing the hot melt adhesive nozzle 122 to press against the object surface. Then, the hot melt adhesive nozzle 122 begins to spray a large amount of high-temperature molten adhesive. The high-temperature molten adhesive bonds the rope to the object surface. After spraying sufficient molten adhesive, the hot melt adhesive nozzle 122 stops spraying molten adhesive. Then, the nozzle push rod 123 and the hot melt adhesive nozzle 122 begin to retract. The high-temperature molten adhesive gradually cools, forming an adhesion point (i.e., connection point 200) with sufficient adhesive force. The adhesion point firmly adheres the rope to the object surface. To more reliably adhere the rope to the object surface, a rope clamp 123-1 can be added to the front end of the nozzle push rod 123, such as... Figure 5d As shown. The rope clamp 123-1 is mounted on the nozzle push rod 123 and includes two clamping plates that can rotate. When the two clamping plates rotate downwards, the rope at the front end of the rope hole 121-1 is clamped, so the nozzle push rod 123 can reliably push the rope onto the object surface, which helps the subsequent adhesion process to proceed smoothly.

[0045] (4) Figure 5e As shown, robotic arm 121 swings back to the center position. Then, the rope clamp 124-1 releases. The rope moving machine is then suspended below the adhesion point.

[0046] In this embodiment, the rope winding mechanism 132 is a rope winder 132-1 installed on the vehicle body. The rope winding mechanism 132 can also be any other structure that can realize rope winding and rope unwinding.

[0047] This embodiment describes the process of connecting a rope to an object surface using hot melt adhesive as an example. The innovative design of connecting the rope to the object surface via adhesive is a biomimetic design mimicking a spider attaching to its silk. The adhesive is not limited to hot melt adhesive. The adhesive of this invention can establish a mechanical connection with the rope and the object surface through curing and / or chemical reactions and / or other adhesive principles. The adhesive can be various glues, welding rods, tapes, cement grout, etc. After implementing certain necessary steps (for example, the necessary steps for the hot melt adhesive in this embodiment are: heating, spraying, and cooling solidification), the adhesive can form adhesive points (i.e., connection points 200) on the object surface. These adhesive points bear all or part of the weight of the machine body 110 through the rope.

[0048] In practical applications, this invention allows for the selection of an appropriate method to connect the rope to the surface of the object 300, forming connection points 200, depending on the surface conditions. For example, a mechanical connection can be used. Figure 6 As shown, if the object surface is a wooden or soft surface, we can replace the hot melt glue nozzle 122 and nozzle push rod 123 with a nail launcher 122-1. The nail launcher 122-1 can fire high-speed nails 122-2. The nails 122-2 strike the rope at the front end of the rope hole 121-1 and, along with the rope, strike the object surface. Thus, the rope is secured to the object surface by the nails 122-2, forming a connection point 200, as shown. Figure 7 As shown. For example, if the surface of the object is a wire mesh structure, the surface connection mechanism 120 includes multiple hooks that are fixed at different positions on a rope, and connection points 200 are formed by hooking the hooks on the rope onto the wire mesh.

[0049] Example 2

[0050] like Figure 8a As shown, the rope moving machine of Embodiment 1 is placed on the roof of a building. Figure 8a (Object surface 310 in the middle). The rope moving machine creates a first adhesion point 210 on the first object surface 310, attaching the rope to the first object surface 310. Then, the rope moving machine moves to the left, removing itself from the first object surface 310 and suspending itself on the second object surface 320, as shown. Figure 8b As shown. A rope winding machine moves rapidly up and down in the vertical direction by winding and unwinding rope. For example... Figure 8c (This figure is a front view of object surface 320) As shown, the rope moving machine creates a second adhesion point 220 and suspends itself below the second adhesion point 220. Thus, the rope moving machine completes a lateral movement, the distance of which is the lateral distance between the first adhesion point 210 and the second adhesion point 220.

[0051] The rope moving machine moves laterally by creating new adhesion points on the second object surface 320, and moves vertically by winding and unwinding the rope using a rope winding machine.

[0052] Example 3

[0053] Figure 8c As shown, the rope-moving machine can move upwards by winding the rope with a rope reel. However, because the adhesion point 220 adheres the rope to the object surface, the machine cannot move upwards above the adhesion point 220. This limits the vertical movement range of the rope-moving machine. To solve this problem, a connection release mechanism 140 is added to the surface connection mechanism 120. In this embodiment, the connection release mechanism 140 is a hot air blower, such as... Figure 9A hot air blower is installed on the mechanical arm 121. The hot air blower blows hot air to make the solidified hot melt adhesive reach high temperature and melt, and the rope detaches from the object surface. Thus, the rope moving machine can break through the limitation of the sticking point and continue to move upward.

[0054] In this embodiment, the connection releasing mechanism is realized by a hot air blower. In the present application, the connection releasing mechanism can also be realized in other ways. The specific method of releasing the connection corresponds to the way of forming the connection point 200. For example, if the connection point 200 is formed by an adhesive, the adhesive releasing solution or heating can be used to release the adhesive connection. If the connection point 200 is formed by a nail, the connection can be released by pulling out the nail. If the connection is formed by hanging on the wire mesh by a hook, the connection can be released by taking down the hook.

[0055] Embodiment 4

[0056] As shown in Figure 10 , Figure 11 In this embodiment, the first object surface 310 and the second object surface 320 are two object surfaces that are not coplanar (in this embodiment, the included angle of the two object surfaces is 90 degrees). The rope moving machine is hung on the first object surface 310. The mechanical arm 121 of the rope moving machine in this embodiment is composed of a first mechanical arm plate 121-3 and a second mechanical arm plate 121-4. The two arm plates are connected by a joint shaft. The joint shaft motor 121-5 can drive the second mechanical arm plate to rotate. The nozzle push rod 123, the hot melt adhesive nozzle 122, and the rope passing hole 121-1 are installed at the front end of the second mechanical arm plate.

[0057] The joint shaft motor 121-5 drives the second mechanical arm plate to rotate by 90 degrees. The second mechanical arm plate with the nozzle push rod 123 and the hot melt adhesive nozzle 122 is turned to the second object surface 320. Thus, the rope moving machine can make adhesive points on the second object surface 320 and then be hung on the second object surface 320. That is, the rope moving machine can cross the two object surfaces at right angles. Therefore, the rope moving machine of the present application can move on two object surfaces that are not coplanar.

[0058] Embodiment 5

[0059] In the above embodiments, the rope moving machine makes adhesive points on the object surface to realize lateral movement. Because making adhesive points requires multiple actions, each action takes some time, and the length of the mechanical arm 121 is limited, each adhesive point can only make the rope moving machine move laterally at most the distance of the mechanical arm 121, so such lateral movement is relatively inefficient.

[0060] This embodiment proposes a more efficient lateral movement method. As shown in Figure 12As shown, the rope moving machine is suspended below the second adhesion point 220. The rope between the second adhesion point 220 and the rope moving machine forms an angle with the object surface (see Figure 2 ). Therefore, the rope exerts a component force (see the rope tension mark in Figure 2 ) on the rope moving machine, which is directed towards the object surface. Under the action of this component force, the wheels of the vehicle body come into contact with the object surface, and thus generate friction. This embodiment utilizes this friction to drive the lateral movement of the rope machine. Each wheel is a driving wheel, and the orientation of the wheels can be changed within a range of 0-90°. First, the orientation of the wheels 112 is changed to the horizontal direction, and then the wheels are driven to rotate. Under the driving of the friction between the wheels and the object surface, the rope machine can move laterally. If the length of the rope between the second adhesion point 220 and the rope moving machine remains constant, the trajectory of the movement is a circular arc (the dashed trajectory in Figure 12 ). If the length of the rope is changed during the movement, the trajectory of the movement will also change accordingly, which will not be described in detail here. As the rope moving machine moves, the rope will generate a lateral component force that hinders the lateral movement of the machine. When the lateral component force of the rope and the lateral component force of the friction between the wheels balance each other, the lateral movement distance of the rope machine reaches the maximum.

[0061] Obviously, the greater the friction between the wheels and the object surface, the greater the lateral movement distance. In order to increase the friction between the wheels and the object surface, the embodiment adds an adsorption mechanism 113 to the machine body 110. The adsorption mechanism 113 exerts an adsorption force on the object surface, thereby increasing the contact force between the wheels and the object surface, increasing the friction, increasing the lateral movement distance, and improving the lateral movement efficiency. In addition, the adsorption mechanism adsorbs the rope moving machine on the object surface, which also helps to stabilize the rope moving machine in the suspended state and prevents it from shaking due to external interference factors such as high-altitude crosswind.

[0062] In the present application, the adsorption mechanism can adopt various ways such as vacuum adsorption, magnetic adsorption (the object surface is a magnetic material), rotor counter-thrust, viscous adhesion, etc. In the present application, most of the gravity of the machine itself is balanced by the tension of the rope, so only a small adsorption force is needed to meet the frictional force requirement of the lateral movement. Therefore, the adsorption mechanism only needs to work in a small power state.

[0063] Embodiment 6

[0064] The present embodiment proposes a scheme for improving the movement efficiency by using a multi-machine movement system. The multi-machine movement system includes two or more rope moving machines. The rope moving machines are connected by machine connecting ropes. Moreover, the length of the machine connecting ropes between the mutually connected rope moving machines is variable.

[0065] Figure 13 The multi-machine moving system comprises two rope moving machines. The first rope moving machine 100-1 is hung below the first sticking point 240, and the second rope moving machine 100-2 is hung below the second sticking point 250. The machine connecting rope 400 connects the two rope moving machines. The machine connecting rope 400 in the embodiment is realized by the winding rope machine 410. The winding rope machine 410 is installed on the first rope moving machine 100-1. One end of the rope is connected with the winding rope machine, and the other end is connected with the second rope moving machine 100-2. The machine connecting rope can also be any structure capable of adjusting the length of the rope.

[0066] The winding rope machine 410 tightens the rope, so that the machine connecting rope is shortened and tensioned. With the shortening of the machine connecting rope, the first rope moving machine 100-1 is pulled to the right upper side, so as to realize fast and long-distance lateral movement and upward movement above the first sticking point 240.

[0067] The above embodiment describes the structure and working principle of the rope moving machine of the present application in detail. The present application has the following advantages:

[0068] (1) In embodiments 1-4 and 6, the rope moving machine of the present application does not need an adsorption mechanism, and does not produce noise and energy consumption due to the adsorption mechanism. The rope moving machine of the present application can be kept on the surface of the object for a long time in a state of zero power consumption and zero noise. In embodiment 5, although an adsorption mechanism is used to increase the distance of lateral movement, most of the gravity of the machine itself is balanced by the tension of the rope, and the adsorption mechanism only needs to generate a small adsorption force to meet the frictional force requirement of lateral movement, so the noise and energy consumption of the adsorption mechanism can be kept at a very low level.

[0069] (2) The rope moving machine of the present application connects the rope at multiple positions on the surface of the object to form multiple connection points, realizes movement on the surface of the object, and can move between non-parallel object surfaces.

[0070] (3) The present application connects the rope on the surface of the object to form the connection point by the adhesive. This method is a biomimetic design of the spider sticking spider silk. At the same time, this method is not limited by the material, topography, hardness and other conditions of the surface of the object, and has very strong applicability.

[0071] The above only describes the preferred embodiments of the present application and should not be used to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A rope moving machine comprising a machine body that is movable on an object, characterized by, The surface connecting mechanism includes a rope mechanism and a surface connecting mechanism; the rope mechanism includes a rope and a rope winding mechanism, the rope winding mechanism is connected with the rope, the surface connecting mechanism connects the rope to the object, and one or more connecting points are formed on the object, the connecting points bear part or all of the gravity of the machine body through the rope, and the rope winding mechanism can change the length of the rope between the connecting points and the machine body; the surface connecting mechanism uses an adhesive to adhere the rope to the object; the surface connecting mechanism includes a rope clamping mechanism, the rope clamping mechanism can clamp the rope to form a tensioned part and a relaxed part of the rope; the relaxed part of the rope is located between the rope winding mechanism and the clamping mechanism; the surface connecting mechanism uses an adhesive to adhere the relaxed part of the rope to the object; The surface connecting mechanism includes a connecting release mechanism, and the connecting release mechanism is used to release the adhesive connection between the rope and the object; The machine body includes an adsorption mechanism, and the adsorption mechanism adsorbs the machine body to the object; The surface connecting mechanism includes a mechanical arm, an adhesive nozzle, a nozzle push rod, and a rope clamping mechanism; the rope clamping mechanism is used to clamp the rope to form a tensioned part and a relaxed part of the rope, the mechanical arm is connected to the machine body through a rotating shaft, and the adhesive nozzle and the nozzle push rod are arranged on the mechanical arm to adhere the relaxed part of the rope to the object.

2. The rope moving machine according to claim 1, characterized in that, The machine body includes a moving mechanism, and the moving mechanism drives the machine body to move on the object.

3. A multi-machine mobile system, characterized by, The surface connecting mechanism includes a rope mechanism and a surface connecting mechanism; the rope mechanism includes a rope and a rope winding mechanism, the rope winding mechanism is connected with the rope, the surface connecting mechanism connects the rope to the object, and one or more connecting points are formed on the object, the connecting points bear part or all of the gravity of the machine body through the rope, and the rope winding mechanism can change the length of the rope between the connecting points and the machine body; the surface connecting mechanism uses an adhesive to adhere the rope to the object; the surface connecting mechanism includes a rope clamping mechanism, the rope clamping mechanism can clamp the rope to form a tensioned part and a relaxed part of the rope; the relaxed part of the rope is located between the rope winding mechanism and the clamping mechanism; the surface connecting mechanism uses an adhesive to adhere the relaxed part of the rope to the object; The surface connecting mechanism includes a connecting release mechanism, and the connecting release mechanism is used to release the adhesive connection between the rope and the object; The machine body includes an adsorption mechanism, and the adsorption mechanism adsorbs the machine body to the object; The surface connecting mechanism includes a mechanical arm, an adhesive nozzle, a nozzle push rod, and a rope clamping mechanism; the rope clamping mechanism is used to clamp the rope to form a tensioned part and a relaxed part of the rope, the mechanical arm is connected to the machine body through a rotating shaft, and the adhesive nozzle and the nozzle push rod are arranged on the mechanical arm to adhere the relaxed part of the rope to the object. The machine body includes a moving mechanism, and the moving mechanism drives the machine body to move on the object. The surface connecting mechanism includes a rope mechanism and a surface connecting mechanism; the rope mechanism includes a rope and a rope winding mechanism, the rope winding mechanism is connected with the rope, the surface connecting mechanism connects the rope to the object, and one or more connecting points are formed on the object, the connecting points bear part or all of the gravity of the machine body through the rope, and the rope winding mechanism can change the length of the rope between the connecting points and the machine body; the surface connecting mechanism uses an adhesive to adhere the rope to the object; the surface connecting mechanism includes a rope clamping mechanism, the rope clamping mechanism can clamp the rope to form a tensioned part and a relaxed part of the rope; the relaxed part of the rope is located between the rope winding mechanism and the clamping mechanism; the surface connecting mechanism uses an adhesive to adhere the relaxed part of the rope to the object; The surface connecting mechanism includes a connecting release mechanism, and the connecting release mechanism is used to release the adhesive connection between the rope and the object; The machine body includes an adsorption mechanism, and the adsorption mechanism adsorbs the machine body to the object; The surface connecting mechanism includes a mechanical arm, an adhesive nozzle, a nozzle push rod, and a rope clamping mechanism; the rope clamping mechanism is used to clamp the rope to form a tensioned part and a relaxed part of the rope, the mechanical arm is connected to the machine body through

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