Modularized jacking equipment for magnetic adsorption robot and use method

Abstract

The invention relates to the technical field of lifting equipment, in particular to modular jacking equipment for a magnetic adsorption robot and a using method.The modular jacking equipment comprises a jacking device body, a jacking assembly and a driving assembly.The jacking device body comprises an upper shell and a lower shell which are connected in a nested mode; the upper shell is matched with the lower shell to form a shell inner cavity for mounting the jacking assembly and the driving assembly, the jacking assembly is mounted on one side of the interior of the shell inner cavity, and the jacking assembly comprises a transmission rod mounted on one side of the interior of the shell inner cavity, a driven gear mounted on the upper portion of the transmission rod and a sliding sleeve arranged in the middle of the transmission rod in a sleeving mode; and the jacking sleeve is arranged on the lower portion of the transmission rod in a sleeving mode, the driving assembly is installed on the other side of the interior of the cavity in the shell, and the driving assembly is meshed with the driven gear to provide rotation power for the driven gear.

Description

Technical Field

[0001] The present invention relates to the technical field of lifting equipment, and in particular to a modular lifting equipment for a magnetic adsorption robot and a use method thereof. Background Art

[0002] With the development of modernization, humans use mobile robots to solve some tedious and complicated tasks, such as aerial work and pipeline work. The existing magnetic adsorption wheeled wall-climbing robots can smoothly pass through horizontal, vertical and oblique surfaces;

[0003] At present, the obstacle crossing of wheeled magnetic adsorption mobile robots mainly relies on the eccentric wheel mechanism, which uses the driving force of the small wheel itself to lift it from the horizontal plane to the vertical plane. However, as a passive device, the mechanism is uncontrollable when the upper horizontal plane transitions to the vertical plane, so that the front wheel group may be suspended in the air, and there is a risk of instability and falling. Therefore, a modular lifting device and a use method for a magnetic adsorption robot are proposed. Summary of the invention

[0004] In order to solve the technical problems existing in the above-mentioned prior art, the present invention provides a modular jacking device for a magnetic adsorption robot and a use method thereof.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a modular lifting device for a magnetic adsorption robot, comprising a lifting device body, a lifting assembly and a driving assembly, the lifting device body comprising an upper shell and a lower shell that are nested and connected, the upper shell cooperates with the lower shell to form a shell cavity for installing the lifting assembly and the driving assembly, the lifting assembly is installed on one side of the shell cavity, the lifting assembly comprises a transmission rod installed on one side of the shell cavity, a driven gear installed on the upper part of the transmission rod, a sliding sleeve sleeved on the middle part of the transmission rod, and a lifting sleeve sleeved on the lower part of the transmission rod, the driving assembly is installed on the other side of the shell cavity, and the driving assembly is meshed with the driven gear to provide rotational power for the driven gear.

[0006] Preferably, an upper bearing cavity is opened at the top of the upper shell body, the top of the transmission rod extends into the upper bearing cavity, a lower bearing cavity is opened at the bottom of the lower shell body, the lower bearing cavity is connected to the outside of the lower shell body, and the lower part of the lifting sleeve extends into the lower bearing cavity.

[0007] Preferably, the lifting assembly also includes a linear bearing and an angular contact bearing group, the linear bearing is nested in the lower bearing chamber, the lower part of the lifting sleeve is sleeved in the linear bearing and restricted by the linear bearing, the angular contact bearing group is nested in the upper bearing chamber, and the top of the transmission rod is sleeved in the angular contact bearing group and restricted by the angular contact bearing group.

[0008] Preferably, the sliding sleeve is threadedly connected to the transmission rod, the sliding sleeve is driven by the transmission rod, the top end of the lifting sleeve is nested and connected with the lower end of the sliding sleeve, and the lifting sleeve moves synchronously with the sliding sleeve.

[0009] Preferably, the movable stroke of the lifting sleeve is consistent with the distance between the bottom of the lifting sleeve and the angular contact bearing group, and the upper part of the lifting sleeve and the angular contact bearing group form a sliding distance limiting structure.

[0010] Preferably, the driving assembly includes a servo, a conversion sleeve and a driving gear, the servo is installed on the other side of the cavity in the shell, the conversion sleeve is fixed inside the servo, the output end of the conversion sleeve extends to the outside of the servo, the driving gear is installed outside the conversion sleeve, and the driving gear is meshed with the driven gear.

[0011] Preferably, a fixing sleeve is provided on the top of the servo, the fixing sleeve has the same specifications as the inner wall of the cavity in the shell, and the fixing sleeve is snap-connected with the cavity in the shell.

[0012] Preferably, the main body of the jacking device further comprises a mounting connecting plate, wherein the mounting connecting plate is mounted on the top of the upper shell, and a plurality of groups of screw holes for connecting with external equipment are provided inside the mounting connecting plate.

[0013] A method for using a modular lifting device for a magnetic adsorption robot comprises the following steps:

[0014] Step S1, flip up the installation connecting plate so that the installation connecting plate is rotated and erected relative to the upper shell, align the threaded holes inside the installation connecting plate with the fixing holes on the surface of the obstacle surmounting robot, and fix the main body of the jacking device to the bottom of the end of the obstacle surmounting robot through the installation connecting plate by the mutual cooperation of the bolts and the screw holes;

[0015] Step S2, in the magnetic environment, the magnetic attraction obstacle-crossing robot moves to the intersection of the horizontal plane and the vertical plane, and the front wheel of the magnetic attraction obstacle-crossing robot is completely in contact with the vertical plane;

[0016] Step S3, the steering gear works, and the conversion sleeve continuously drives the driving gear to rotate under the drive of the steering gear. During the continuous rotation process, the driving gear drives the driven gear and the transmission rod linked with the driven gear to rotate synchronously;

[0017] Step S4, during the rotation of the transmission rod, the transmission rod drives the sliding sleeve to perform vertical displacement through the threaded connection state with the sliding sleeve, and the sliding sleeve synchronously pushes the lifting sleeve to perform synchronous vertical displacement during the movement process, and the lifting sleeve contacts the ground after being moved out of the interior of the lower shell body, and in a state where the bottom of the lifting sleeve contacts the ground, the lifting sleeve continues to move under the push of the sliding sleeve, and the lifting sleeve that continues to move acts in the reverse direction on the lifting device body to lift the lifting device body;

[0018] Step S5: During the lifting process of the lifting device body, the end of the obstacle-crossing robot is lifted synchronously by the lifting device body, and the smooth intersection of the vertical and horizontal planes of the wheel portion of the obstacle-crossing robot transitions to above the vertical plane. At this time, the steering gear drives the driven gear to reverse through the driving gear, and the lifting sleeve moves back with the sliding sleeve under the cooperation of the transmission rod and the sliding sleeve. After the lifting sleeve is completely retracted into the lifting device body, the obstacle-crossing robot can continue to move;

[0019] Preferably, step S6 is also included, in which, in a magnetic attraction environment, the magnetic attraction obstacle-crossing robot runs to the intersection of the vertical plane and the horizontal plane, the front wheel of the magnetic attraction obstacle-crossing robot is completely in contact with the horizontal plane, and the transmission rod drives the sliding sleeve to displace through the threaded connection with the sliding sleeve, and the sliding sleeve synchronously pushes the lifting sleeve to displace synchronously during the movement, and the lifting sleeve contacts the wall after moving out from the interior of the lower shell body, and when the bottom of the lifting sleeve contacts the wall, the lifting sleeve continues to move under the push of the sliding sleeve, and the lifting sleeve that continues to move acts in the reverse direction on the lifting device body to lift the lifting device body, and the obstacle-crossing robot continues to move. During the movement, the servo drives the driven gear to reverse through the driving gear, and with the cooperation of the transmission rod and the sliding sleeve, the lifting sleeve moves back with the sliding sleeve, and the lifting sleeve is completely retracted into the lifting device body.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1. The present invention is provided with a lifting assembly and a driving assembly. The transmission rod drives the sliding sleeve to move by being threadedly connected with the sliding sleeve. The sliding sleeve synchronously pushes the lifting sleeve to move synchronously during the movement. The lifting sleeve contacts the wall after being moved out from the interior of the lower shell. When the bottom of the lifting sleeve contacts the wall, the lifting sleeve continues to move under the push of the sliding sleeve. The lifting sleeve that continues to move acts in the reverse direction on the lifting device body to lift the lifting device body, so that the end of the obstacle-crossing robot can smoothly transition from the horizontal plane to the vertical plane. The transition process is stable and controllable, reducing the risk of instability and falling.

[0022] 2. In the present invention, the lifting assembly also includes a linear bearing and an angular contact bearing group. With the cooperation of the linear bearing and the angular contact bearing group, the transmission rod is stably arranged between the upper shell and the lower shell to ensure that the transmission rod can stably rotate at high speed under the cooperation of the driving assembly and the sliding sleeve, thereby improving the service life of the structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0024] Figure 2 It is a front view cross-sectional structural schematic diagram of the present invention;

[0025] Figure 3 It is a front view structural schematic diagram of the jacking assembly of the present invention;

[0026] Figure 4 It is a schematic diagram of the front cross-sectional structure of the jacking assembly of the present invention;

[0027] Figure 5 It is a front view structural schematic diagram of the driving assembly of the present invention;

[0028] Figure 6 It is a schematic diagram of the coordination structure between the main body of the jacking device of the present invention and the obstacle-crossing robot;

[0029] Figure 7 It is a schematic diagram of the preparation state of the jacking device body of the present invention before jacking.

[0030] The numbers in the figure represent:

[0031] 1. Lifting device body; 11. Upper shell; 111. Upper bearing cavity; 12. Lower shell; 121. Lower bearing cavity; 13. Cavity in shell; 14. Mounting connecting plate; 2. Lifting assembly; 21. Transmission rod; 22. Driven gear; 23. Sliding sleeve; 24. Lifting sleeve; 25. Linear bearing; 26. Angular contact bearing group; 3. Driving assembly; 31. Servo; 32. Conversion sleeve; 33. Driving gear; 34. Fixing sleeve. DETAILED DESCRIPTION

[0032] The present invention will be further described below with reference to the accompanying drawings and embodiments, but the following embodiments are merely preferred embodiments of the present invention and are not exhaustive.

[0033] Example:

[0034] like Figure 1 - Figure 7 As shown, the present invention provides a modular lifting device for a magnetic adsorption robot, including a lifting device body 1, a lifting assembly 2 and a driving assembly 3. The lifting device body 1 includes an upper shell 11 and a lower shell 12 that are nested and connected. The upper shell 11 cooperates with the lower shell 12 to form a shell inner cavity 13 for installing the lifting assembly 2 and the driving assembly 3. The lifting assembly 2 is installed on one side of the shell inner cavity 13. The lifting assembly 2 includes a transmission rod 21 installed on one side of the shell inner cavity 13, a driven gear 22 installed on the upper part of the transmission rod 21, a sliding sleeve 23 sleeved on the middle part of the transmission rod 21, and a lifting sleeve 24 sleeved on the lower part of the transmission rod 21. The driving assembly 3 is installed on the other side of the shell inner cavity 13. The driving assembly 3 is meshed with the driven gear 22 to provide rotational power for the driven gear 22.

[0035] An upper bearing cavity 111 is opened at the top of the upper shell body 11, and the top of the transmission rod 21 extends into the upper bearing cavity 111. A lower bearing cavity 121 is opened at the bottom of the lower shell body 12, and the lower bearing cavity 121 is connected to the outside of the lower shell body 12. The lower part of the lifting sleeve 24 extends into the lower bearing cavity 121, and the lifting sleeve 24 can pass through the lower bearing cavity 121 and extend to the outside of the lower shell body 12.

[0036] The lifting assembly 2 also includes a linear bearing 25 and an angular contact bearing group 26. The linear bearing 25 is nested in the lower bearing chamber 121. The lower part of the lifting sleeve 24 is sleeved in the linear bearing 25 and is restricted by the linear bearing 25. The angular contact bearing group 26 is nested in the upper bearing chamber 111. The top of the transmission rod 21 is sleeved in the angular contact bearing group 26 and is restricted by the angular contact bearing group 26. With the cooperation of the linear bearing 25 and the angular contact bearing group 26, the transmission rod 21 is stably arranged between the upper shell 11 and the lower shell 12 to ensure that the transmission rod 21 can stably rotate at high speed under the cooperation of the drive assembly 3 and the sleeve 23, thereby improving the service life of the structure.

[0037] The sliding sleeve 23 and the transmission rod 21 are threadedly connected. The sliding sleeve 23 is driven by the transmission rod 21. The top of the lifting sleeve 24 is nested and connected with the lower end of the sliding sleeve 23. The lifting sleeve 24 moves synchronously with the sliding sleeve 23. During the rotation of the transmission rod 21, the transmission rod 21 drives the sliding sleeve 23 to perform vertical displacement through the threaded connection with the sliding sleeve 23. During the movement, the sliding sleeve 23 synchronously pushes the lifting sleeve 24 to perform synchronous vertical displacement. After moving out from the interior of the lower shell 12, the lifting sleeve 24 will gradually contact the ground. When the bottom of the lifting sleeve 24 is in contact with the ground, the lifting sleeve 24 continues to move to reversely act on the lifting device body 1 to lift the lifting device body 1. Similarly, during the process of the lifting sleeve 24 moving back with the sliding sleeve 23, the lifting device body 1 gradually recovers to a straight state until the lifting sleeve 24 is completely retracted into the lifting device body 1.

[0038] The bottom of the lifting sleeve 24 is retracted inside the lifting device body 1, and the movable stroke of the lifting sleeve 24 is consistent with the distance between the bottom of the lifting sleeve 24 and the angular contact bearing group 26. The upper part of the lifting sleeve 24 and the angular contact bearing group 26 form a sliding distance limiting structure. In the process of the lifting sleeve 24 moving vertically with the sliding sleeve 23, when the upper bottom surface of the lifting sleeve 24 contacts the top of the angular contact bearing group 26, the lifting sleeve 24 reaches the maximum movable position. The stability of the lifting sleeve 24 during operation is guaranteed by limiting the maximum movable distance of the lifting sleeve 24.

[0039] The driving assembly 3 includes a steering gear 31, a conversion sleeve 32 and a driving gear 33;

[0040] The servo 31 is installed on the other side of the cavity 13 in the housing, the conversion sleeve 32 is fixed inside the servo 31, the output end of the conversion sleeve 32 extends to the outside of the servo 31, the driving gear 33 is installed outside the conversion sleeve 32, the driving gear 33 is meshed with the driven gear 22, the servo 31 rotates when working, the conversion sleeve 32 continuously drives the driving gear 33 to rotate under the drive of the servo 31, the driving gear 33 will drive the driven gear 22 to rotate during the continuous rotation, the servo 31 can be reversed as needed, and then drive 2 to rotate forward and reverse;

[0041] A fixing sleeve 34 is sleeved on the top of the servo 31. The fixing sleeve 34 has the same specifications as the inner wall of the cavity 13 in the shell. The fixing sleeve 34 is snap-fitted and connected to the cavity 13 in the shell. After the fixing sleeve 34 is inserted into the cavity 13 in the shell, the fixing sleeve 34 can support the servo 31, so that the setting position of the servo 31 relative to the cavity 13 in the shell remains fixed, thereby ensuring the rotation stability of the driving gear 33 at the end of the servo 31.

[0042] The main body 1 of the lifting device also includes an installation connecting plate 14, which is fixed to the top of the upper shell 11. The installation connecting plate 14 and the upper shell 11 are connected by a rotating shaft. The installation connecting plate 14 can rotate relative to the upper shell 11. A plurality of groups of screw holes for connecting to external equipment are provided inside the installation connecting plate 14. When connecting to the obstacle crossing robot, the installation connecting plate 14 is first rotated to make the installation connecting plate 14 flip and stand upright relative to the upper shell 11. The lifting device main body 1 can be fixed to the bottom of the obstacle crossing robot through the cooperation of the bolts and the screw holes.

[0043] How to use the lifting device of the obstacle crossing robot:

[0044] Flip up the mounting connecting plate 14 so that the mounting connecting plate 14 is rotated and erected relative to the upper shell 11, align the threaded holes inside the mounting connecting plate 14 with the fixing holes on the surface of the obstacle-crossing robot, and fix the lifting device body 1 to the bottom of the end of the obstacle-crossing robot through the mounting connecting plate 14 by the mutual cooperation of the bolts and the screw holes;

[0045] Step S2, in the magnetic environment, the magnetic attraction obstacle-crossing robot moves to the intersection of the horizontal plane and the vertical plane, and the front wheel of the magnetic attraction obstacle-crossing robot is completely in contact with the vertical plane;

[0046] The steering gear 31 works, and the conversion sleeve 32 is driven by the steering gear 31 to continuously drive the driving gear 33 to rotate. During the continuous rotation process, the driving gear 33 will drive the driven gear 22 and the transmission rod 21 linked with the driven gear 22 to rotate synchronously;

[0047] During the rotation of the transmission rod 21, the transmission rod 21 drives the sliding sleeve 23 to move vertically through the threaded connection state with the sliding sleeve 23. The sliding sleeve 23 synchronously pushes the lifting sleeve 24 to move vertically during the movement. The lifting sleeve 24 contacts the ground after being moved out of the interior of the lower shell 12. When the bottom of the lifting sleeve 24 contacts the ground, the lifting sleeve 24 continues to move under the push of the sliding sleeve 23. The lifting sleeve 24 that continues to move acts in the reverse direction on the lifting device body 1 to lift the lifting device body 1.

[0048] During the lifting process of the lifting device body 1, the end of the obstacle-crossing robot is lifted synchronously by the lifting device body 1, and the smooth intersection of the vertical surface and the horizontal surface of the wheel part of the obstacle-crossing robot transitions to the top of the vertical surface, and the obstacle-crossing robot moves forward. At this time, the steering gear 31 drives the driven gear 22 to reverse through the driving gear 33, and the lifting sleeve 24 moves back with the sliding sleeve 23 under the cooperation of the transmission rod 21 and the sliding sleeve 23. After the lifting sleeve 24 is completely retracted into the lifting device body 1, the obstacle-crossing robot can continue to move;

[0049] In the magnetic environment, the magnetic attraction obstacle-crossing robot runs to the intersection of the vertical plane and the horizontal plane, the front wheel of the magnetic attraction obstacle-crossing robot is completely in contact with the horizontal plane, and the transmission rod 21 drives the sliding sleeve 23 to move through the threaded connection state with the sliding sleeve 23. The sliding sleeve 23 synchronously pushes the lifting sleeve 24 to move synchronously during the movement. After the lifting sleeve 24 moves out from the interior of the lower shell 12, it contacts the wall. When the bottom of the lifting sleeve 24 contacts the wall, the lifting sleeve 24 is pushed by the sliding sleeve 23 to continue to move. The lifting sleeve 24 that continues to move acts in the reverse direction on the lifting device body 1 to lift the lifting device body 1, and the obstacle-crossing robot continues to move. During the movement, the steering gear 31 drives the driven gear 22 to reverse through the driving gear 33. Under the cooperation of the transmission rod 21 and the sliding sleeve 23, the lifting sleeve 24 moves back with the sliding sleeve 23, and the lifting sleeve 24 is completely retracted into the lifting device body 1

[0050] The above description is only a preferred embodiment of the present invention, which is only illustrative and not restrictive of the present invention. Those skilled in the art understand that many changes, modifications, and even equivalences may be made to the present invention within the spirit and scope defined by the claims of the present invention, but all of them will fall within the scope of protection of the present invention.

Claims

1. A modular lifting device for a magnetic adsorption robot, characterized in that: It includes a lifting device body, a lifting assembly and a driving assembly. The lifting device body includes an upper shell and a lower shell that are nested and connected. The upper shell cooperates with the lower shell to form a shell cavity for installing the lifting assembly and the driving assembly. The lifting assembly is installed on one side of the shell cavity. The lifting assembly includes a transmission rod installed on one side of the shell cavity, a driven gear installed on the upper part of the transmission rod, a sliding sleeve sleeved on the middle part of the transmission rod, and a lifting sleeve sleeved on the lower part of the transmission rod. The driving assembly is installed on the other side of the shell cavity. The driving assembly is meshed with the driven gear to provide rotational power for the driven gear.

2. A modular lifting device for a magnetic adsorption robot as claimed in claim 1, characterized in that: An upper bearing cavity is formed at the top of the upper shell body, and the top of the transmission rod extends into the upper bearing cavity. A lower bearing cavity is formed at the bottom of the lower shell body, and the lower bearing cavity is connected to the outside of the lower shell body. The lower part of the lifting sleeve extends into the lower bearing cavity.

3. A modular lifting device for a magnetic adsorption robot as claimed in claim 2, characterized in that: The lifting assembly also includes a linear bearing and an angular contact bearing group. The linear bearing is nested in the lower bearing chamber, the lower part of the lifting sleeve is sleeved in the linear bearing and restricted by the linear bearing, the angular contact bearing group is nested in the upper bearing chamber, and the top of the transmission rod is sleeved in the angular contact bearing group and restricted by the angular contact bearing group.

4. A modular lifting device for a magnetic adsorption robot as claimed in claim 3, characterized in that: The sliding sleeve is threadedly connected to the transmission rod. The sliding sleeve is driven by the transmission rod. The top end of the lifting sleeve is nested and connected with the lower end of the sliding sleeve. The lifting sleeve moves synchronously with the sliding sleeve.

5. A modular lifting device for a magnetic adsorption robot as claimed in claim 4, characterized in that: The movable stroke of the lifting sleeve is consistent with the distance between the bottom of the lifting sleeve and the angular contact bearing group, and the upper part of the lifting sleeve and the angular contact bearing group form a sliding distance limiting structure.

6. A modular lifting device for a magnetic adsorption robot as claimed in claim 5, characterized in that: The driving assembly includes a steering gear, a conversion sleeve and a driving gear. The steering gear is installed on the other side of the cavity in the shell, the conversion sleeve is fixed inside the steering gear, the output end of the conversion sleeve extends to the outside of the steering gear, the driving gear is installed outside the conversion sleeve, and the driving gear is meshed with the driven gear.

7. A modular lifting device for a magnetic adsorption robot as claimed in claim 6, characterized in that: The top sleeve of the servo is provided with a fixed clamping sleeve, the specification of the fixed clamping sleeve is consistent with the inner wall of the cavity in the shell, and the fixed clamping sleeve is clamped and connected with the cavity in the shell.

8. A modular lifting device for a magnetic adsorption robot as claimed in claim 7, characterized in that: The main body of the jacking device also includes a mounting connecting plate, which is mounted on the top of the upper shell body. A plurality of screw holes for connecting with external equipment are provided inside the mounting connecting plate.

9. A method for using the jacking device for an obstacle-crossing robot according to claim 8, characterized in that: The following steps are included: Step S1, flip up the installation connecting plate so that the installation connecting plate is rotated and erected relative to the upper shell, align the threaded holes inside the installation connecting plate with the fixing holes on the surface of the obstacle surmounting robot, and fix the main body of the jacking device to the bottom of the end of the obstacle surmounting robot through the installation connecting plate by the mutual cooperation of the bolts and the screw holes; Step S2, in the magnetic environment, the magnetic attraction obstacle-crossing robot moves to the intersection of the horizontal plane and the vertical plane, and the front wheel of the magnetic attraction obstacle-crossing robot is completely in contact with the vertical plane; Step S3, the steering gear works, and the conversion sleeve continuously drives the driving gear to rotate under the drive of the steering gear. During the continuous rotation process, the driving gear drives the driven gear and the transmission rod linked with the driven gear to rotate synchronously; Step S4, during the rotation of the transmission rod, the transmission rod drives the sliding sleeve to perform vertical displacement through the threaded connection state with the sliding sleeve, and the sliding sleeve synchronously pushes the lifting sleeve to perform synchronous vertical displacement during the movement process, and the lifting sleeve contacts the ground after being moved out of the interior of the lower shell body, and in a state where the bottom of the lifting sleeve contacts the ground, the lifting sleeve continues to move under the push of the sliding sleeve, and the lifting sleeve that continues to move acts in the reverse direction on the lifting device body to lift the lifting device body; Step S5, during the lifting process of the lifting device body, the end of the obstacle overcoming robot is lifted synchronously by the lifting device body, the smooth vertical surface of the wheel part of the obstacle overcoming robot transitions to the intersection of the horizontal surface to the top of the vertical surface, and the obstacle overcoming robot moves forward. At this time, the steering gear drives the driven gear to reverse through the active gear, and with the cooperation of the transmission rod and the sliding sleeve, the lifting sleeve moves back with the sliding sleeve. After the lifting sleeve is completely retracted into the lifting device body, the obstacle overcoming robot can continue to move.

10. The method for using the jacking device for the obstacle-crossing robot according to claim 9, characterized in that: It also includes step S6, in which, under the magnetic attraction environment, the magnetic attraction obstacle-crossing robot runs to the intersection of the vertical plane and the horizontal plane, the front wheel of the magnetic attraction obstacle-crossing robot is completely in contact with the horizontal plane, the transmission rod drives the sliding sleeve to displace through the threaded connection state with the sliding sleeve, and the sliding sleeve synchronously pushes the lifting sleeve to displace synchronously during the movement, and the lifting sleeve contacts the wall after moving out from the interior of the lower shell body, and when the bottom of the lifting sleeve contacts the wall, the lifting sleeve continues to move under the push of the sliding sleeve, and the lifting sleeve that continues to move acts in the reverse direction on the lifting device body to lift the lifting device body, and the obstacle-crossing robot continues to move. During the movement, the steering gear drives the driven gear to reverse through the driving gear, and with the cooperation of the transmission rod and the sliding sleeve, the lifting sleeve moves back with the sliding sleeve, and the lifting sleeve is completely retracted into the lifting device body.

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