A kind of aerial operation robot and operation method thereof

Abstract

The present invention relates to the field of intelligent robot technology, and in particular to a high-altitude working robot and its operation method, which includes a robot body and a manipulator, a rotating mechanism is arranged at the top of both ends of the robot body, the output shaft of the rotating mechanism vertically penetrates the robot body downward and is connected to a longitudinal telescopic mechanism, the manipulator is arranged at the output end of the longitudinal telescopic mechanism, and a functional warehouse located between two manipulators is arranged on the robot body, an operating liquid cavity and at least one working roller are arranged in the functional warehouse, and the working roller is connected with the output shaft through a transmission assembly. The present invention moves the robot body across the raised steel structure between the tempered glass through the cooperation of the rotating mechanism and the longitudinal telescopic mechanism, completes the spraying operation in multiple areas, and greatly improves the work efficiency; in the process of spraying construction, the periodic rotation and feeding of the working roller can be executed by setting the program to ensure the construction effect of the working roller.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robots, and in particular to an aerial work robot and an operation method thereof. Background Art

[0002] Aerial work robots are automated equipment designed to perform tasks in high-altitude environments. In existing technologies, aerial work robots have been widely used in fields such as spraying, inspection, maintenance or repair of the exterior wall structures of high-rise buildings. These robots significantly improve the safety, efficiency and reliability of operations by simulating or assisting humans in high-altitude operations. Existing aerial work robots are divided into the following categories according to their working principles: negative pressure adsorption robots, magnetic adsorption robots, tracked robots and positive pressure propulsion robots. Among them, magnetic adsorption robots mainly rely on magnetic force to adsorb on the surface of magnetic conductive materials such as metals, and are suitable for scenes such as ship rust removal and chemical tank corrosion protection; tracked robots are suitable for operations that require cleaning and maintenance on complex or rough surfaces; positive pressure propulsion robots generate thrust through propellers or ducted fans, so that the robot is close to the wall, and is suitable for surfaces such as bridges and buildings. Today, with the accelerated urbanization process, the number of glass curtain wall buildings is increasing day by day. Only negative pressure adsorption robots are more suitable for glass curtain wall construction operations. Compared with complex maintenance operations, robots are used more widely in aerial spraying.

[0003] However, the existing aerial work robots still have some shortcomings. In order to ensure safety and aesthetics, the current high-rise glass curtain walls are usually assembled by splicing several pieces of tempered glass, and the tempered glass is divided into several areas by steel structures. After the aerial work robot completes the construction work in a single area, it cannot cross the raised area of ​​the steel structure to another area for work. At this time, human traction is often required to complete the operation, which is inconvenient. In addition, during the construction process of the aerial work robot, the painting tools are not convenient for periodic refilling and replacement, which leads to uneven spraying and reduces the effect of the construction work. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides an aerial work robot and an operation method thereof.

[0005] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] A high-altitude work robot includes a robot body and a manipulator, the robot body is in a long plate-like structure, a rotating mechanism is arranged on the top of both ends of the robot body, the output shaft of the rotating mechanism vertically penetrates the robot body downward and is connected to a longitudinal telescopic mechanism, the manipulator is arranged at the output end of the longitudinal telescopic mechanism, the robot body is provided with a functional warehouse located between the two manipulators, an operating liquid cavity and at least one working roller are arranged in the functional warehouse, an operating component is arranged on the operating liquid cavity, the working roller abuts against the operating component, and the working roller is connected to the output shaft through a transmission component.

[0007] Furthermore, the transmission assembly includes a first transmission wheel, a second transmission wheel, a transmission rod and a toothless worm wheel, wherein the first transmission wheel is arranged on the output shaft of the rotating mechanism, the second transmission wheel and the toothless worm wheel are arranged at the upper end and the bottom of the transmission rod respectively, the top of the transmission rod is connected to the top surface of the functional bin through a rotating shaft, and the first transmission wheel and the second transmission wheel are meshed and connected. The rotating mechanism drives the output shaft to rotate through a rotating machine, the output shaft passes through the robot body and is connected to the longitudinal telescopic mechanism, and a gap is left between the bottom surface of the robot body and the longitudinal telescopic mechanism, and the first transmission wheel is sleeved on the output shaft and located at the gap. The second transmission wheel and the toothless worm wheel are both fixed on the transmission rod, and the transmission rod is rotationally connected to the top of the robot body through a rotating shaft. When the transmission rod rotates, the second transmission wheel and the toothless worm wheel rotate synchronously. Therefore, the rotation of the first transmission wheel can drive the rotation of the second transmission wheel, and the second transmission wheel then drives the rotation of the toothless worm wheel.

[0008] Furthermore, the two ends of the working roller are mounted on the lower end of the functional bin through a positioning rod, a worm structure is provided on the positioning rod, the toothless worm wheel is connected with the worm structure, and a notch is provided at the bottom of the functional bin for the working roller to pass through. When the toothless worm wheel rotates, the toothed portion of the toothless worm wheel can cooperate with the worm structure, and the rotation of the toothless worm wheel drives the rotation of the positioning rod, thereby causing the working roller to rotate. When the toothed portion of the toothless worm wheel cooperates with the worm structure, the working roller rotates, and when the toothless portion of the toothless worm wheel rotates to the worm structure, the working roller stops rotating. In this way, the working roller can be rotated periodically to achieve rolling spraying or other functional purposes. In addition, the number of teeth of the toothless worm wheel can be set to adjust the number of rotations and frequency of the working roller.

[0009] Furthermore, two working rollers are provided, and the two working rollers are arranged in parallel at the lower end of the functional bin. The positioning rods of the working rollers are provided with transmission teeth, and the two working rollers are connected by a transmission belt sleeved on the transmission teeth. The two working rollers can increase the spraying effect and covering effect of the working rollers and improve the efficiency of construction. When the working roller matched with the toothless worm gear rotates, the transmission belt can be driven to rotate through the transmission teeth, thereby driving the synchronous rotation of the other working roller to achieve corresponding operations such as filling.

[0010] Furthermore, the operating component includes a scraper and a spraying component, the scraper abuts against the working roller, one end of the spraying component guides the scraper, and the other end is connected to the operating liquid chamber. The operating roller is provided with an operating liquid chamber on the side facing the robot body, wherein the scraper is provided on the operating liquid chamber and abuts against the working roller. The spraying component includes a nozzle and a nozzle, the nozzle is connected to the operating liquid chamber and is used to guide the solution in the operating liquid chamber, and the nozzle guides the scraper out and is used to scrape the sprayed solution evenly. The width of the nozzle is the same as the length of the working roller, and the solution can be evenly sprayed on the surface of the working roller.

[0011] Furthermore, the manipulator includes four suction cups, and the air pressure state inside the four suction cups is controlled by a solenoid valve. The four suction cups can ensure that when the manipulator adsorbs alone, the robot body will not fall due to insufficient suction. The solenoid valve uses electromagnetic force to control the opening and closing of the valve, thereby controlling the flow of gas or liquid. By controlling the opening and closing of the solenoid valve, the inflow and outflow of air inside the suction cup can be accurately managed, thereby controlling the adsorption state of the suction cup. When the suction cup needs to be adsorbed, the solenoid valve is in a closed state, and the vacuum pump connected to the suction cup starts working to extract the air inside the suction cup to form a negative pressure, so that the suction cup fits tightly on the target surface. When the suction cup needs to be moved or the adsorbed object needs to be released, the control system opens the solenoid valve through an electrical signal, allowing the outside air to quickly enter the suction cup, balance the internal and external air pressure, release the suction, and the suction cup releases the surface.

[0012] A method for operating an aerial work robot comprises the following steps:

[0013] S1: Attach the robot body to the aerial work surface, start the manipulator, and the suction cup extracts the internal air through the solenoid valve to achieve fixation;

[0014] S2: The action route is preset by the program. According to the action route, the control system issues a control command, one of the manipulators releases the suction, the other manipulator maintains the suction, and the rotating mechanism corresponding to the manipulator that maintains the suction rotates with a rotation range of 180°;

[0015] Taking the tempered glass with a square working area as an example, the starting position of the robot body is the lower left corner, and the initial state of the robot body is horizontal and fixed. First, the manipulator on the left end releases the suction, and while the manipulator on the right end maintains the suction, the rotating mechanism on the right end rotates 180° clockwise. At this time, the active coverage range of the working roller is fan-shaped. After alternating periodic rotation, the robot body moves to the lower right corner of the square tempered glass. At this time, the rotating mechanism on the right end rotates 90° clockwise. When the manipulator on the left end moves to just above the manipulator on the right end, it is fixed by suction. At this time, the robot body is in a vertical state. Then the rotating mechanism at the upper end rotates 90° clockwise, and the robot body is pulled upward to a horizontal state. The subsequent spraying or cleaning operations are completed by moving the robot body to the left.

[0016] S3: During the rotation process, the working roller slides across the coverage area of ​​the robot body to complete the cleaning operation of the high-altitude outer wall;

[0017] S4: After completing the 180° rotation, the robot arm that releases the suction is re-adsorbed onto the high-altitude outer wall surface, and the robot arm that originally maintained the suction releases the suction, and the linear cleaning operation is completed through the rotation of the rotating mechanism.

[0018] Furthermore, in step S2, the control system is arranged in the robot body, and the control system is respectively connected to the rotating mechanism, the longitudinal telescopic mechanism, the solenoid valve and the spraying component. The control system is also provided with a wireless transmission system, and the wireless transmission system is connected to an external control terminal.

[0019] Further, in step S3, the rotation of the rotating mechanism drives the rotation of the transmission rod, and then the toothless worm gear periodically drives the working roller to rotate. When the working roller rotates, the spray assembly is started to clean the working roller. According to the spraying or cleaning requirements, the rotation cycle of the working roller is set, which can be achieved by setting the number of teeth of the toothless worm gear.

[0020] Further, in step S4, after the high-altitude outer wall of the area is cleaned, when it is necessary to cross the protruding steel structure and move to another independent outer surface, the manipulator close to the steel structure maintains suction, and the longitudinal telescopic mechanism is extended, while the manipulator on the other side releases suction, and then the rotation mechanism on the suction side starts to rotate, so that the robot body climbs over the steel structure. After rotating 180°, the longitudinal telescopic mechanism at the climbing end is extended and fixed by the manipulator, the original manipulator releases adsorption and the longitudinal telescopic mechanism shrinks, and the entire robot body is moved to another independent outer surface through the rotation of the rotating mechanism to complete the transfer. When the longitudinal telescopic mechanism is extended to the maximum length, the height between the bottom surface of the working drum and the bottom surface of the manipulator is greater than the height of the steel structure, ensuring that the robot body will not touch the steel structure during the climbing process. In addition, the robot body is also equipped with a monitoring system and an obstacle recognition system, through which the movement direction and route of the robot body can be determined to assist the smooth progress of high-altitude operations.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. The present invention, through the cooperation of the rotating mechanism and the longitudinal telescopic mechanism, can move the robot body across the raised steel structure between the tempered glass without the assistance of human traction under the guidance of the control program to complete the spraying operation in multiple areas, thereby reducing labor costs and greatly improving work efficiency;

[0023] 2. During the spraying construction process, the present invention can perform periodic rotation and material replenishment of the working roller by setting the program, thereby ensuring the construction effect of the working roller and improving the uniformity of the construction operation;

[0024] 3. The present invention can autonomously cross raised steel structures and perform multi-area operations, reducing the need for manual operation, thereby reducing the risk of high-altitude operations and significantly improving the safety of operations;

[0025] 4. The present invention is not limited to spraying operations, but can also be used for other aerial operations such as cleaning, inspection or maintenance by replacing or adjusting components in the functional compartment, further improving the application scope and economic benefits of the equipment. The integrated control system and wireless transmission system make the operation easier, and can remotely monitor and adjust the working status, thereby improving the convenience of the overall operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a plan view schematic diagram of the present invention;

[0027] Figure 2 It is a plan perspective schematic diagram of the present invention;

[0028] Figure 3It is a schematic diagram of the three-dimensional structure of the present invention;

[0029] Figure 4 It is a partial perspective schematic diagram of the present invention;

[0030] Figure 5 is a perspective schematic diagram of the present invention;

[0031] Figure 6 It is a schematic diagram of the principle of the transmission assembly;

[0032] Figure identification: 1-robot body, 2-manipulator, 3-rotation mechanism, 4-output shaft, 5-longitudinal telescopic mechanism, 6-functional chamber, 7-operating liquid chamber, 8-working roller, 9-first transmission wheel, 10-second transmission wheel, 11-transmission rod, 12-toothless worm gear, 13-rotating shaft, 14-positioning rod, 15-worm structure, 16-transmission belt. DETAILED DESCRIPTION

[0033] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0034] Embodiment 1, as Figure 1-5 As shown, the present invention discloses an aerial work robot, including a robot body 1 and a manipulator 2, the robot body 1 is in a long plate-like structure, a rotating mechanism 3 is arranged on the top of both ends of the robot body 1, the output shaft 4 of the rotating mechanism 3 vertically penetrates the robot body 1 downward and is connected to a longitudinal telescopic mechanism 5, the manipulator 2 is arranged at the output end of the longitudinal telescopic mechanism 5, the robot body 1 is provided with a functional warehouse 6 located between the two manipulators 2, an operating liquid cavity 7 and at least one working roller 8 are arranged in the functional warehouse 6, an operating component is arranged on the operating liquid cavity 7, the working roller 8 is abutted against the operating component, and the working roller 8 is connected with the output shaft 4 through a transmission component.

[0035] like Figure 6As shown, the transmission assembly includes a first transmission wheel 9, a second transmission wheel 10, a transmission rod 11 and a toothless worm wheel 12, wherein the first transmission wheel 9 is arranged on the output shaft 4 of the rotating mechanism 3, the second transmission wheel 10 and the toothless worm wheel 12 are arranged at the upper end and the bottom of the transmission rod 11 respectively, the top of the transmission rod 11 is connected to the top surface of the functional bin 6 through the rotating shaft 13, and the first transmission wheel 9 and the second transmission wheel 10 are meshed and connected. Specifically, the rotating mechanism 3 drives the output shaft 4 to rotate through the rotating machine, the output shaft 4 penetrates the robot body 1 and is connected to the longitudinal telescopic mechanism 5, and a gap is left between the bottom surface of the robot body 1 and the longitudinal telescopic mechanism 5, and the first transmission wheel 9 is sleeved on the output shaft 4 and is located at the gap. The second transmission wheel 10 and the toothless worm wheel 12 are both fixed on the transmission rod 11, and the transmission rod 11 is rotatably connected to the top of the robot body 1 through the rotating shaft 13. When the transmission rod 11 rotates, the second transmission wheel 10 and the toothless worm wheel 12 rotate synchronously. Therefore, the rotation of the first transmission wheel 9 can drive the second transmission wheel 10 to rotate, and the second transmission wheel 10 further drives the toothless worm wheel 12 to rotate.

[0036] The two ends of the working roller 8 are mounted on the lower end of the functional chamber 6 through a positioning rod 14. A worm structure 15 is provided on the positioning rod 14. The toothless worm wheel 12 is connected with the worm structure 15. The bottom of the functional chamber 6 is provided with a notch for the working roller 8 to pass through. Specifically, when the toothless worm wheel 12 rotates, the toothed portion of the toothless worm wheel 12 can cooperate with the worm structure 15. The rotation of the toothless worm wheel 12 drives the rotation of the positioning rod 14, thereby causing the working roller 8 to rotate. When the toothed portion of the toothless worm wheel 12 cooperates with the worm structure 15, the working roller 8 rotates. When the toothless portion of the toothless worm wheel 12 rotates to the worm structure 15, the working roller 8 stops rotating. In this way, the working roller 8 can be rotated periodically to achieve rolling spraying or other functional purposes. In addition, the number of teeth of the toothless worm wheel 12 can be set to adjust the number of rotations and the frequency of the working roller 8.

[0037] The two working rollers 8 are arranged in parallel at the lower end of the functional chamber 6. The positioning rods 14 of the working rollers 8 are provided with transmission teeth. The two working rollers 8 are connected by a transmission belt 16 sleeved on the transmission teeth. Specifically, the two working rollers 8 can increase the spraying effect and covering effect of the working rollers 8 and improve the efficiency of construction. Figure 5 As shown, when the working roller 8 matched with the toothless worm gear 12 rotates, the transmission belt 16 can be driven to rotate through the transmission teeth, thereby driving the synchronous rotation of another working roller 8 to achieve corresponding operations such as material replenishment.

[0038] The operating component includes a scraper and a spraying component. The scraper is in contact with the working roller 8. One end of the spraying component guides the scraper, and the other end is connected to the operating liquid chamber 7. Specifically, the operating roller 8 is provided with an operating liquid chamber 7 on the side facing the robot body 1, wherein the scraper is provided on the operating liquid chamber 7 and is in contact with the working roller 8. The spraying component includes a nozzle and a nozzle. The nozzle is connected to the operating liquid chamber 7 and is used to guide the solution in the operating liquid chamber 7. The nozzle guides the scraper out and is used to evenly scrape the sprayed solution. The width of the nozzle is the same as the length of the working roller 8, so that the solution can be evenly sprayed on the surface of the working roller 8. Since the scraper and the spraying component are conventional components, they are not shown in the figure. Preferably, the working roller 8 can be used to clean the glass exterior wall at high altitude. Cleaning water is sprayed by the spraying component to periodically clean the stained working roller 8 to ensure that the working roller 8 does not leave any dust marks when wiping the glass.

[0039] The manipulator 2 includes four suction cups, and the air pressure state inside the four suction cups is controlled by a solenoid valve. Specifically, the four suction cups can ensure that when the manipulator 2 is adsorbed alone, the robot body 1 will not fall due to insufficient suction. The solenoid valve uses electromagnetic force to control the opening and closing of the valve, thereby controlling the flow of gas or liquid. By controlling the opening and closing of the solenoid valve, the inflow and outflow of air inside the suction cup can be accurately managed, thereby controlling the adsorption state of the suction cup. When the suction cup needs to be adsorbed, the solenoid valve is in a closed state, and the vacuum pump connected to the suction cup starts working to extract the air inside the suction cup to form a negative pressure, so that the suction cup fits tightly on the target surface. When the suction cup needs to be moved or the adsorbed object needs to be released, the control system opens the solenoid valve through an electrical signal, allowing the outside air to quickly enter the suction cup, balance the internal and external air pressure, release the suction, and the suction cup releases the surface.

[0040] Embodiment 2, based on embodiment 1, this embodiment proposes an operation method of an aerial work robot, comprising the following steps:

[0041] S1: attach the robot body 1 to the aerial work surface, start the manipulator 2 to work, and the suction cup extracts the internal air through the solenoid valve to achieve fixation;

[0042] S2: The action route is preset by the program. According to the action route, the control system issues a control instruction, one of the manipulators 2 releases the suction, the other manipulator 2 maintains the suction, and the rotating mechanism 3 corresponding to the manipulator 2 that maintains the suction rotates, and the rotation amplitude is 180°;

[0043] Taking the tempered glass with a square working area as an example, the starting position of the robot body 1 is the lower left corner, and the initial state of the robot body 1 is horizontal and fixed. First, the manipulator 2 at the left end releases the suction, and while the manipulator 2 at the right end maintains the suction, the rotating mechanism 3 at the right end rotates 180° clockwise, and the active coverage range of the working roller 8 is fan-shaped. After alternating periodic rotation, the robot body 1 moves to the lower right corner of the square tempered glass. At this time, the rotating mechanism 3 at the right end rotates 90° clockwise. When the manipulator 2 at the left end moves to just above the manipulator 2 at the right end, it is fixed by suction, and the robot body 1 is in a vertical state. Then the rotating mechanism 3 at the upper end rotates 90° clockwise, and the robot body 1 is pulled upward to a horizontal state. The subsequent spraying or cleaning operation is completed by moving the robot body 1 to the left.

[0044] S3: During the rotation process, the working roller 8 slides over the coverage area of ​​the robot body 1 to complete the cleaning operation of the high-altitude outer wall;

[0045] S4: After completing the 180° rotation, the robot arm 2 that releases the suction is re-adsorbed onto the high-altitude outer wall surface, and the robot arm 2 that originally maintains the suction releases the suction, and the linear cleaning operation is completed through the rotation of the rotating mechanism 3.

[0046] It should be noted that in step S2, the control system is arranged in the robot body 1, and the control system is respectively connected to the rotating mechanism 3, the longitudinal telescopic mechanism 5, the solenoid valve and the spraying component, wherein the rotating mechanism 3, the longitudinal telescopic mechanism 5 and the solenoid valve are each provided with two, and the control system controls each independent rotating mechanism 3, the longitudinal telescopic mechanism 5 and the solenoid valve separately.

[0047] The control system is also provided with a wireless transmission system, and the wireless transmission system is connected to an external control terminal.

[0048] In step S3, the rotation mechanism 3 drives the transmission rod 11 to rotate, and then drives the working roller 8 to rotate periodically through the toothless worm gear 12. When the working roller 8 rotates, the spray assembly is started to clean the working roller 8. According to the spraying or cleaning requirements, the rotation period of the working roller 8 is set, which can be achieved by setting the number of teeth of the toothless worm gear 12.

[0049] In step S4, after the high-altitude outer wall of the area is cleaned, when it is necessary to cross the protruding steel structure and move to another independent outer surface, the manipulator 2 close to the steel structure maintains suction, and the longitudinal telescopic mechanism 5 is extended, while the manipulator 2 on the other side releases suction, and then the rotating mechanism 3 on the suction side starts to rotate, so that the robot body 1 climbs over the steel structure. After rotating 180°, the longitudinal telescopic mechanism 5 at the climbing end is extended and fixed by the manipulator 2, the original manipulator 2 is released from adsorption and the longitudinal telescopic mechanism 5 is contracted, and the entire robot body 1 is moved to another independent outer surface through the rotation of the rotating mechanism 3 to complete the transfer. When the longitudinal telescopic mechanism 5 is extended to the maximum length, the height between the bottom surface of the working roller 8 and the bottom surface of the manipulator 2 is greater than the height of the steel structure, ensuring that the robot body 1 will not touch the steel structure during the climbing process. In addition, the robot body 1 is also equipped with a monitoring system and an obstacle recognition system, through which the movement direction and travel route of the robot body 1 can be determined to assist the smooth progress of high-altitude operations.

[0050] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, technicians familiar with the field may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A high-altitude working robot, comprising a robot body (1) and a manipulator (2), characterized in that: The robot body (1) is in the form of a long plate. A rotating mechanism (3) is arranged at the top of both ends of the robot body (1). An output shaft (4) of the rotating mechanism (3) vertically penetrates the robot body (1) downward and is connected to a longitudinal telescopic mechanism (5). The manipulator (2) is arranged at the output end of the longitudinal telescopic mechanism (5). The robot body (1) is provided with a functional chamber (6) located between the two manipulators (2). An operating liquid chamber (7) and at least one working roller (8) are arranged in the functional chamber (6). An operating component is arranged on the operating liquid chamber (7). The working roller (8) is in contact with the operating component. The working roller (8) is connected to the output shaft (4) through a transmission component. The transmission component comprises a first transmission wheel (9), a second transmission wheel (10), a transmission rod (11) and a toothless worm wheel (12). The first transmission wheel (9) is arranged on the rotating mechanism. The output shaft (4) of the structure (3) is actuated by a rotating shaft (13), the second transmission wheel (10) and the toothless worm wheel (12) are respectively arranged at the upper end and the bottom of the transmission rod (11), the top of the transmission rod (11) is connected to the top surface of the functional bin (6) through a rotating shaft (13), the first transmission wheel (9) and the second transmission wheel (10) are meshingly connected, the two ends of the working roller (8) are mounted on the lower end of the functional bin (6) through a positioning rod (14), the positioning rod (14) is provided with a worm structure (15), the toothless worm wheel (12) is cooperatively connected with the worm structure (15), and a notch for the working roller (8) to pass through is arranged at the bottom of the functional bin (6), the rotation of the rotating mechanism (3) drives the transmission rod (11) to rotate, and then the toothless worm wheel (12) periodically drives the working roller (8) to rotate, and when the working roller (8) rotates, the spraying assembly is started to clean the working roller (8).

2. The aerial work robot according to claim 1, characterized in that: Two working rollers (8) are provided, and the two working rollers (8) are arranged in parallel at the lower end of the functional compartment (6). The positioning rods (14) of the working rollers (8) are provided with transmission teeth, and the two working rollers (8) are connected in transmission via a transmission belt (16) sleeved on the transmission teeth.

3. The aerial work robot according to claim 1, characterized in that: The operating assembly comprises a scraper and a spray assembly, the scraper abutting against the working roller (8), one end of the spray assembly guiding the scraper and the other end communicating with the operating liquid chamber (7).

4. The aerial work robot according to claim 1, characterized in that: The manipulator (2) comprises four suction cups, and the air pressure state in the four suction cups is controlled by solenoid valves.

5. An operation method of an aerial work robot, applied to an aerial work robot according to any one of claims 1 to 4, characterized in that: The following steps are involved: S1: attach the robot body (1) to the aerial work surface, start the manipulator (2) to work, and the suction cup extracts the internal air through the solenoid valve to achieve fixation; S2: The action route is preset by the program. According to the action route, the control system issues a control command, one of the manipulators (2) releases the suction force, the other manipulator (2) maintains the suction force, and the rotating mechanism (3) corresponding to the manipulator (2) maintaining the suction force rotates, and the rotation amplitude is 180°; S3: During the rotation process, the working roller (8) slides over the coverage area of ​​the robot body (1) to complete the cleaning operation of the high-altitude outer wall; S4: After completing the 180° rotation, the robot arm (2) that releases the suction force is re-adsorbed onto the high-altitude outer wall surface, and the robot arm (2) that originally maintains the suction force releases the suction force, and the linear cleaning operation is completed through the rotation of the rotating mechanism (3); Among them, in step S4, after completing the cleaning of the high-altitude outer wall of the area, when it is necessary to cross the protruding steel structure and move to another independent outer surface, the manipulator (2) close to the steel structure maintains suction, and the longitudinal telescopic mechanism (5) is extended, while the manipulator (2) on the other side releases suction, and then starts to rotate by the rotation mechanism (3) on the suction side, so that the robot body (1) climbs over the steel structure. After rotating 180°, the longitudinal telescopic mechanism (5) at the climbing end is extended and fixed by the manipulator (2), the original manipulator (2) is released from adsorption and the longitudinal telescopic mechanism (5) is contracted, and the entire robot body (1) is moved to another independent outer surface by the rotation of the rotation mechanism (3), completing the transfer.

6. The operating method of the aerial work robot according to claim 5, characterized in that: In step S2, the control system is arranged in the robot body (1), and the control system is respectively connected to the rotating mechanism (3), the longitudinal telescopic mechanism (5), the electromagnetic valve and the spraying component. The control system is also provided with a wireless transmission system, and the wireless transmission system is connected to an external control terminal.

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