Foot type wall-climbing obstacle-crossing robot

Abstract

The invention provides a foot type wall-climbing obstacle-crossing robot. The foot type wall-climbing obstacle-crossing robot comprises a body module and a walking module. The body module is driven by a lifting motor to ascend and descend, the walking module is composed of an ascending supporting leg assembly, a middle adjusting supporting leg assembly and a descending supporting leg assembly which are symmetrically distributed, and obstacle crossing is achieved through negative pressure adsorption on the wall face and cooperative stretching. A lead screw motor and a suction cup module are arranged in each supporting leg assembly, and the supporting leg assemblies and the body module move relatively and independently through the guide rail assemblies. The robot carries a laser radar, can intelligently recognize obstacles and adjust obstacle crossing actions, and is suitable for cleaning and maintenance of complex glass curtain walls. The obstacle crossing robot solves the problems that an existing robot cannot cross obstacles and actions are limited due to the fact that a body and a walking mechanism are integrated, and has the advantages of being efficient, safe and high in adaptability.

Description

Technical Field

[0001] The invention relates to the field of glass curtain wall cleaning robots, in particular to a foot-type wall-climbing and obstacle-crossing robot. Background Art

[0002] The facades of modern high-rise and super-high-rise office buildings and apartments are mostly made of glass curtain walls, which need to be cleaned, maintained and inspected regularly to maintain their beauty and functionality. At present, these works mainly rely on manual high-altitude operations, which is not only inefficient but also has great safety risks. In order to replace manual work, some wheeled positive pressure or negative pressure robots have appeared on the market, which can work on glass curtain walls with simple structures, but these robots have obvious limitations: they cannot cross obstacles and can only be applied to flat walls or glass curtain walls with a single structure. Due to these limitations, they cannot handle more complex curtain wall structures, such as walls with decorative lines and other structural features. Therefore, there is an urgent need for a new type of foot-type wall-climbing obstacle-crossing robot that can clean and inspect close to the glass curtain wall, and can cross obstacles up and down, while the body and the walking mechanism can move relatively independently to adapt to different work scenarios. Summary of the invention

[0003] The technical problem to be solved by the present invention is: a foot-type wall-climbing obstacle-crossing robot suitable for more complex curtain wall structures.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: a foot-type wall-climbing and obstacle-crossing robot, comprising:

[0005] The main body module includes a main body and a lifting motor. The main body has a built-in controller and a laser radar. The lifting motor is fixed to a preset position of the main body and drives the main body to rise and fall through a winding and climbing wire rope;

[0006] A walking module, comprising an upward outrigger assembly, a middle outrigger assembly, a downward outrigger assembly and a guide rail assembly symmetrically distributed on both sides of the main body;

[0007] The guide rail assembly includes a leg optical axis, a main body optical axis and an optical axis end seal, which is used to guide the main body and each leg assembly in series and realize the relative independent movement of the main body module and the walking module.

[0008] Furthermore, the upward leg assembly includes:

[0009] An upward lead screw motor, an upward lead screw motor mounting part, an upward suction cup module leg slider and an upward suction cup module leg;

[0010] The upward lead screw motor is fixed to the upward lead screw motor mounting member by means of bolts, and the upward lead screw motor mounting member is nested on the support leg optical axis by means of a built-in linear bearing;

[0011] The upward suction cup module legs are embedded with a module motor, a micro vacuum pump and a suction cup, and lifting and lowering are achieved through sliders of the upward suction cup module legs.

[0012] Further, the mid-adjustable leg assembly includes:

[0013] An upward lead screw nut mounting part, a middle adjustment optical axis, a downward lead screw nut mounting part, a middle adjustment suction cup module leg slider and a middle adjustment suction cup module leg;

[0014] The middle light-adjusting axis is fixed in the prefabricated hole of the upward lead screw nut mounting member by means of bolts, and is connected in series with the downward lead screw nut mounting member;

[0015] The center-adjustable suction cup module legs are embedded with a module motor, a micro vacuum pump and a suction cup, and lifting and lowering are achieved through sliders of the center-adjustable suction cup module legs.

[0016] Furthermore, the descending leg assembly comprises:

[0017] A downward lead screw motor, a downward lead screw motor mounting part, a downward suction cup module leg slider and a downward suction cup module leg;

[0018] The downward lead screw motor is fixed to the downward lead screw motor mounting member by means of bolts, and the downward lead screw motor mounting member is nested on the support leg optical axis by means of a built-in linear bearing;

[0019] The descending suction cup module legs are embedded with a module motor, a micro vacuum pump and a suction cup, and lifting and lowering are achieved through the descending suction cup module leg sliders.

[0020] Furthermore, the suction cup module leg sliders of the upward suction cup module leg, the middle adjustment suction cup module leg and the downward suction cup module leg are all fixed to the mounting parts of the corresponding leg assemblies by bolts, and slidably cooperate with the leg optical axis of the guide rail assembly.

[0021] Furthermore, the optical axis end seal is fixed to both ends of the optical axis of the support leg and the optical axis of the main body by bolts to prevent the main body and each support leg assembly from falling off the optical axis.

[0022] Furthermore, the main body optical axis is embedded in a linear bearing preset in the main body, and is fixedly connected to the support leg optical axis through the optical axis end seal to form a guide track.

[0023] Furthermore, a center dimming shaft stop ring is provided on the center dimming shaft, and the center dimming shaft stop ring is fixed to the end of the center dimming shaft by bolts to prevent the center dimming shaft from being separated from the downward lead screw nut mounting member.

[0024] Furthermore, the upward lead screw nut mounting member and the downward lead screw nut mounting member both have built-in fixed lead screw nuts, which are respectively connected to the lead screw threads of the upward lead screw motor and the downward lead screw motor.

[0025] Furthermore, the laser radars of the main body are respectively externally arranged at the top and the bottom for scanning the outline of obstacles, and the controller is used for controlling the leg assembly to adjust to an obstacle crossing state according to the outline of the obstacle.

[0026] The beneficial effects of the present invention are as follows: through the independent design of the main body module and the walking module and the serial guidance of the guide rail assembly, the decoupling of the robot body and the leg movement is achieved, which significantly improves the robot's flexible obstacle crossing ability and movement stability on complex walls. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the mechanisms shown in these drawings without paying any creative work.

[0028] Figure 1 This is a diagram of the initial state of the foot-type wall-climbing and obstacle-crossing robot without obstacles when ascending according to an embodiment of the present invention;

[0029] Figure 2 This is a diagram of the initial state of the foot-type wall-climbing and obstacle-crossing robot in an embodiment of the present invention when descending without obstacles;

[0030] Figure 3 This is a structural diagram of an upward support leg assembly according to an embodiment of the present invention;

[0031] Figure 4 It is a structural diagram of a center-adjustable leg assembly according to an embodiment of the present invention;

[0032] Figure 5 An exploded view of the structure of the down leg assembly according to an embodiment of the present invention;

[0033] Figure 6 This is a structural diagram of a down leg assembly according to an embodiment of the present invention;

[0034] Figure 7 A structural diagram of a guide rail assembly according to an embodiment of the present invention;

[0035] Among them, 1. body module; 2. walking module; 3. winding wire rope; 11. main body; 12. lifting motor; 21. upward leg assembly; 22. middle adjustment leg assembly; 23. downward leg assembly; 24. guide rail assembly; 211. upward screw motor; 212. upward screw motor mounting part; 213. upward suction cup module leg slider; 214. upward suction cup module leg; 221. upward screw nut mounting part ; 222, center adjustment optical axis; 223, downward lead screw nut mounting part; 224, center adjustment suction cup module leg slider; 225, center adjustment suction cup module leg; 226, center adjustment optical axis stop ring; 231, downward lead screw motor; 232, downward lead screw motor mounting part; 233, downward suction cup module leg slider; 234, downward suction cup module leg; 241, leg optical axis; 242, main body optical axis; 243, optical axis end seal. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] It should be noted that the descriptions of "first", "second", etc. in the present invention are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0038] like Figure 1-Figure 7 As shown, an embodiment of the present invention is: a foot-type wall-climbing obstacle-crossing robot, comprising:

[0039] The main body module 1 includes a main body 11 and a lifting motor 12. The main body 11 has a built-in controller and a laser radar. The lifting motor 12 is fixed to a preset position of the main body 11 and drives the main body 11 to rise and fall through a winding wire rope 3.

[0040] The walking module 2 includes an upward leg assembly 21, a middle leg assembly 22, a downward leg assembly 23 and a guide rail assembly 24 symmetrically distributed on both sides of the main body 11;

[0041] The guide rail assembly 24 includes a leg optical axis 241 , a main body optical axis 242 and an optical axis end seal 243 , and is used to guide the main body 11 and each leg assembly in series, and realize the relative independent movement of the main body module 1 and the walking module 2 .

[0042] In this embodiment, in the glass curtain wall cleaning scene, the robot uses the leg optical axis 241 and the body optical axis 242 of the guide rail assembly 24 to ensure that the body module 1 does not interfere with the leg movements of the walking module 2 during the lifting process, and can independently adjust the cleaning height. At the same time, the leg assembly adsorbs the wall surface to maintain overall stability and avoids deviation or slipping caused by linkage. Through the independent design of the body module 1 and the walking module 2 and the series guidance of the guide rail assembly 24, the decoupling of the robot body and leg movements is achieved, significantly improving the robot's flexible obstacle crossing ability and motion stability on complex walls.

[0043] In a specific embodiment, the upward leg assembly 21 includes:

[0044] An upward lead screw motor 211, an upward lead screw motor 211 mounting member, an upward suction cup module leg slider 213 and an upward suction cup module leg 214;

[0045] The upward lead screw motor 211 is fixed to the upward lead screw motor 211 mounting member by bolts, and the upward lead screw motor 211 mounting member is nested on the support leg optical axis 241 through a built-in linear bearing;

[0046] The upward suction cup module leg 214 is embedded with a module motor, a micro vacuum pump and a suction cup, and is lifted and lowered by the upward suction cup module leg slider 213 .

[0047] In this embodiment, when the robot needs to cross the curtain wall horizontal bar obstacle, the upward screw motor 211 drives the upward suction cup module leg 214 to rise to a preset height, and the suction cup is released and re-adsorbed on the wall above the obstacle. The micro vacuum pump quickly pumps air to form negative pressure to ensure that the leg and the wall are closely attached during the crossing process. The screw motor of the upward leg assembly 21 works with the suction cup module to achieve high-precision lifting and adsorption control of the leg, and enhance the reliability of wall grasping when crossing obstacles.

[0048] In a specific embodiment, the mid-adjustable leg assembly 22 includes:

[0049] An upward lead screw nut mounting part 221, a middle adjustment optical axis 222, a downward lead screw nut mounting part 223, a middle adjustment suction cup module leg slider 224 and a middle adjustment suction cup module leg 225;

[0050] The middle light-adjusting shaft 222 is fixed in the prefabricated hole of the upward lead screw nut mounting member 221 by means of bolts, and is connected in series with the downward lead screw nut mounting member 223;

[0051] The center-adjustable suction cup module leg 225 is embedded with a module motor, a micro vacuum pump and a suction cup, and is lifted and lowered by the center-adjustable suction cup module leg slider 224 .

[0052] In this embodiment, when crossing the glass rib of the curtain wall, the central adjustment optical axis 222 guides the upward lead screw nut mounting member 221 and the downward lead screw nut mounting member 223 to move synchronously, and the central adjustment suction cup module leg 225 adjusts the adsorption position in the center to avoid the robot from tilting due to uneven leg span. The central adjustment leg assembly 22 connects the upper and lower leg assemblies in series through the central adjustment optical axis 222 to achieve linkage guidance between the legs and optimize the coordination of the obstacle crossing action.

[0053] In a specific embodiment, the descending leg assembly 23 includes:

[0054] A downward lead screw motor 231, a downward lead screw motor 231 mounting member, a downward suction cup module leg slider 233 and a downward suction cup module leg 234;

[0055] The downward lead screw motor 231 is fixed to the downward lead screw motor 231 mounting member by means of bolts, and the downward lead screw motor 231 mounting member is nested on the support leg optical axis 241 through a built-in linear bearing;

[0056] The downward suction cup module leg 234 is embedded with a module motor, a micro vacuum pump and a suction cup, and is lifted and lowered by the downward suction cup module leg slider 233 .

[0057] In this embodiment, when the robot is moving downward for cleaning, the downward lead screw motor 231 drives the downward suction cup module support leg 234 to gradually release and adsorb to the low wall surface, and the micro vacuum pump dynamically adjusts the adsorption pressure to prevent the suction cup from falling off due to gravity. The downward support leg assembly 23 is driven by the lead screw motor and cooperates with the suction cup module to ensure that the adsorption force is continuous and stable when the robot moves downward to overcome obstacles.

[0058] In a specific embodiment, the suction cup module leg sliders of the upward suction cup module leg 214, the middle suction cup module leg 225 and the downward suction cup module leg 234 are all fixed to the mounting parts of the corresponding leg assemblies by bolts, and slidably cooperate with the leg optical axis 241 of the guide rail assembly 24.

[0059] In this embodiment, under the vibration environment of the curtain wall surface, the upward suction cup module leg slider 213 is tightly connected to the guide rail assembly 24 through bolts to ensure that the leg lifting trajectory has no deviation and the suction cup is always aligned with the wall suction point. The bolt fixation of the suction cup module leg slider cooperates with the sliding of the guide rail to improve the mechanical accuracy and vibration resistance of the leg lifting.

[0060] In a specific embodiment, the optical axis end seal 243 is fixed to both ends of the support leg optical axis 241 and the main body optical axis 242 by bolts to prevent the main body 11 and each support leg assembly from falling off the optical axis.

[0061] In this embodiment, when the robot is lifted at high speed, the optical axis end seal 243 locks the two ends of the leg optical axis 241 through bolts to prevent the main body 11 or the leg assembly from leaving the guide rail due to inertia, ensuring that the motion trajectory is controllable. The fixed design of the optical axis end seal 243 effectively prevents the main body module 1 or the leg assembly from falling off the optical axis, thereby improving the safety of the equipment.

[0062] In a specific embodiment, the main body optical axis 242 is embedded in a linear bearing preset in the main body 11, and is fixedly connected to the support leg optical axis 241 through the optical axis end seal 243 to form a guide track.

[0063] In this embodiment, during the tilting curtain wall operation, the main body optical axis 242 slides with the main body 11 through a linear bearing, and the leg optical axis 241 synchronously guides the leg movement, and the two axes work together to ensure the balance of the robot in the tilted state. The linkage design of the main body optical axis 242 and the leg optical axis 241 forms an integrated guide track, which simplifies the structure and enhances the overall rigidity.

[0064] In a specific embodiment, a center dimming shaft stop ring 226 is provided on the center dimming shaft 222 , and the center dimming shaft stop ring 226 is fixed to the end of the center dimming shaft 222 by bolts to prevent the center dimming shaft 222 from being separated from the downward lead screw nut mounting member 223 .

[0065] In this embodiment, during the robot's obstacle crossing process, the center adjustment light axis stop ring 226 prevents the center adjustment light axis 222 from excessively moving, ensuring that the center adjustment leg assembly 22 is always within the preset stroke to avoid mechanical jamming. The center adjustment light axis stop ring 226 limits the displacement range of the center adjustment light axis 222 to prevent the leg assembly from detaching and causing obstacle crossing failure.

[0066] In a specific embodiment, the upward lead screw nut mounting member 221 and the downward lead screw nut mounting member 223 both have built-in fixed lead screw nuts, which are respectively connected to the lead screw threads of the upward lead screw motor 211 and the downward lead screw motor 231.

[0067] In this embodiment, the screw nut built into the upward screw nut mounting part 221 is threadedly matched with the upward screw motor 211 to convert the motor rotational motion into the linear motion of the leg, driving the suction cup module to rise and fall with millimeter-level accuracy. The threaded connection design of the screw nut mounting part and the screw motor realizes the precise linear drive of the leg assembly.

[0068] In a specific embodiment, the laser radars of the main body 11 are respectively externally disposed at the top and the bottom for scanning the outline of obstacles, and the controller is used to control the leg assembly to adjust to an obstacle crossing state according to the outline of the obstacle.

[0069] In this embodiment, when the robot encounters a raised obstacle on the curtain wall, the top laser radar scans the height of the obstacle, the bottom radar detects the foothold, and the controller adjusts the order of leg lifting and lowering after integrating the data to ensure that the suction cup accurately crosses the obstacle. The two-way layout of the laser radar realizes omnidirectional obstacle detection and improves the intelligent level of obstacle crossing path planning.

[0070] Taking the glass curtain wall cleaning robot as an example, the working principle of a foot-type wall-climbing and obstacle-crossing robot is explained:

[0071] In the initial state of the robot's barrier-free upward cleaning of the glass curtain wall, the main body module 1 of the glass curtain wall cleaning robot is located at the bottom of the guide rail assembly 24 and fits with the bottom optical axis end seal 243; at this time, the upward lead screw nut mounting part 221 is located at the preset maximum stroke of the upward lead screw motor 211, and the downward lead screw nut mounting part 223 is located at the preset maximum stroke of the downward lead screw motor 231; the upward lead screw motor 211 mounting part fits with the top optical axis end seal 243, and the downward lead screw motor 231 mounting part fits with the bottom optical axis end seal 243; the upward suction cup module legs 214, the middle adjustment suction cup module legs 225 and the downward suction cup module legs 234 are in the low position of the module legs to adsorb the glass curtain wall, and the roller brush is in contact with the glass curtain wall.

[0072] When starting upward cleaning, the main body 11 controls the lifting motor 12 to wind up the climbing wire rope 3, the main body module 1 moves upward along the main body optical axis 242, and the roller brush moves upward for cleaning; at the same time, the main body 11 controls the downward suction cup module leg 234 suction cup to release from adsorption, controls the downward screw motor 231 to rotate forward, and drives the downward leg assembly 23 to move upward along the leg optical axis 241.

[0073] When the downward screw motor 231 has passed half of its screw stroke, the main body 11 controls the downward suction cup module leg 234 suction cup to change from release to adsorption, and the middle adjustment suction cup module leg 225 suction cup to change from adsorption to release; at the same time, the main body 11 controls the upward screw motor 211 to rotate forward, and the downward screw motor 231 to reverse at a constant speed.

[0074] When the upward lead screw motor 211 has passed half of its lead screw stroke, the main body 11 controls the downward lead screw motor 231 to stop, controls the suction cup of the middle adjustment suction cup module leg 225 to change from release to adsorption, and controls the suction cup of the upward suction cup module leg 214 to change from adsorption to release; at the same time, the main body 11 controls the upward lead screw motor 211 to reverse, and at this time the upward leg assembly 21 drags the guide rail assembly 24 upward.

[0075] When the screw stroke of the upward screw motor 211 recovers to the maximum stroke, the main body 11 controls the upward screw motor 211 to stop rotating, the suction cup of the upward suction cup module leg 214 changes from release to adsorption, and the suction cup of the downward suction cup module leg 234 changes from adsorption to release, and the robot returns to the initial state of cleaning the glass curtain wall upward, completing a cycle of upward crawling.

[0076] In the initial state of the robot's barrier-free downward cleaning of the glass curtain wall, the main body module 1 of the glass curtain wall cleaning robot is located at the top of the guide rail assembly 24, and is fitted with the top optical axis end seal 243; at this time, the upward lead screw nut mounting part 221 is located at the preset maximum stroke of the upward lead screw motor 211, and the downward lead screw nut mounting part 223 is located at the preset maximum stroke of the downward lead screw motor 231; the upward lead screw motor 211 mounting part fits the top optical axis end seal 243, and the downward lead screw motor 231 mounting part fits the bottom optical axis end seal 243; the upward suction cup module legs 214, the middle adjustment suction cup module legs 225 and the downward suction cup module legs 234 are in a low position to adsorb the glass curtain wall, and the roller brush is in contact with the glass curtain wall.

[0077] When starting downward cleaning, the main body 11 controls the lifting motor 12 to wind down the climbing wire rope 3, the main body module 1 moves downward along the main body optical axis 242, and the roller brush moves downward for cleaning; at the same time, the main body 11 controls the upward suction cup module leg 214 suction cup to release from adsorption, controls the downward screw motor 231 to rotate forward, and drives the upward leg assembly 21 to move downward along the leg optical axis 241.

[0078] When the upward lead screw motor 211 has passed half of its lead screw stroke, the main body 11 controls the upward suction cup module leg 214 to change from release to adsorption, and the middle adjustment suction cup module leg 225 to change from adsorption to release; at the same time, the main body 11 controls the downward lead screw motor 231 to rotate forward, and the upward lead screw motor 211 to reverse at a constant speed.

[0079] When the downward screw motor 231 has passed half of its screw stroke, the main body 11 controls the upward screw motor 211 to stop rotating, controls the suction cup of the middle adjustment suction cup module leg 225 to change from release to adsorption, and controls the suction cup of the downward suction cup module leg 234 to change from adsorption to release; at the same time, the main body 11 controls the downward screw motor 231 to reverse, and at this time the downward leg assembly 23 moves downward along the guide rail assembly 24.

[0080] When the screw stroke of the downward screw motor 231 recovers to the maximum stroke, the main body 11 controls the downward screw motor 231 to stop rotating, the suction cup of the downward suction cup module leg 234 changes from release to adsorption, and the suction cup of the upward suction cup module leg 214 changes from adsorption to release, and the robot returns to the initial state of downward cleaning of the glass curtain wall, completing a cycle of downward crawling.

[0081] In the initial state of the robot's upward obstacle crossing, the main body 11 controls the robot to stay at an appropriate distance in front of the obstacle based on the top external laser radar scanning the outline of the obstacle, and adjusts the robot to the upward obstacle crossing state; at this time, the main body module 1 of the glass curtain wall cleaning robot is located at the bottom of the guide rail assembly 24, and is in contact with the bottom optical axis end seal 243; the upward lead screw nut mounting part 221 is located at the preset minimum stroke of the upward lead screw motor 211, and the downward lead screw nut mounting part 223 is located at the preset maximum stroke of the downward lead screw motor 231; the upward lead screw motor 211 mounting part is in contact with the top optical axis end seal 243; the upward suction cup module leg 214, the middle adjustment suction cup module leg 225 and the downward suction cup module leg 234 are in the high position of the module leg, and at the same time adsorb the glass curtain wall, the main body module 1 is propped up, and the roller brush is separated from the glass curtain wall.

[0082] When starting to go up and overcome obstacles, the main body 11 controls the lifting motor 12 to wind up the climbing wire rope 3, and the main body module 1 goes up along the main body optical axis 242; at the same time, the main body 11 controls the upward suction cup module leg 214 suction cup to change from adsorption to release, and lift it to a preset height; then the upward screw motor 211 is controlled to reverse until the upward screw motor 211 stops at the maximum preset stroke; finally, the upward suction cup module leg 214 is controlled to fall to a preset height, and the suction cup changes from release to adsorption, completing the upward leg assembly 21 obstacle crossing.

[0083] Then the main body 11 controls the upward suction cup module leg 214, the middle suction cup module leg 225 and the downward suction cup module leg 234 to move upward until the middle suction cup module leg 225 reaches the obstacle; at this time, the upward lead screw nut mounting part 221 is located at the preset maximum stroke of the upward lead screw motor 211, and the downward lead screw nut mounting part 223 is located at the preset minimum stroke of the downward lead screw motor 231; the upward suction cup module leg 214, the middle suction cup module leg 2 25 and the downward suction cup module leg 234 suction cup adsorbs the wall surface; then the main body 11 controls the suction cup of the middle adjustment suction cup module leg 225 to change from adsorption to release and lift it to a preset height; then the upward screw motor 211 is controlled to rotate forward and the downward screw motor 231 is reversed at a constant speed until the upward screw motor 211 stops at the preset minimum stroke; finally, the middle adjustment suction cup module leg 225 is controlled to fall to a preset height, and the suction cup changes from release to adsorption, completing the obstacle crossing of the middle adjustment leg assembly 22.

[0084] Then the main body 11 controls the upward suction cup module leg 214, the middle adjustment suction cup module leg 225 and the downward suction cup module leg 234 to move upward until the downward suction cup module leg 234 reaches the obstacle; at this time, the upward screw nut mounting part 221 is located at the preset maximum stroke of the upward screw motor 211, and the downward screw nut mounting part 223 is located at the preset maximum stroke of the downward screw motor 231; the suction cups of the upward suction cup module leg 214, the middle adjustment suction cup module leg 225 and the downward suction cup module leg 234 adsorb the wall surface; then, the main body 11 controls the suction cup of the downward suction cup module leg 234 to change from adsorption to release and lift it to a preset height; then the downward screw motor 231 is controlled to rotate forward until the downward screw motor 231 stops at the minimum preset stroke; finally, the downward suction cup module leg 234 is controlled to fall to a preset height, and the suction cup changes from release to adsorption, completing the obstacle crossing of the downward leg assembly 23.

[0085] In the initial state of the robot's downward obstacle crossing, the main body 11 scans the outline of the obstacle based on the external laser radar at the bottom, controls the robot to stay at an appropriate distance in front of the obstacle, and adjusts the robot to the downward obstacle crossing state; at this time, the main body module 1 of the glass curtain wall cleaning robot is located at the top of the guide rail assembly 24, and is in contact with the top optical axis end seal 243; the upward lead screw nut mounting part 221 is located at the preset maximum stroke of the upward lead screw motor 211, and the downward lead screw nut mounting part 223 is located at the preset minimum stroke of the downward lead screw motor 231; the upward lead screw motor 211 mounting part is in contact with the top optical axis end seal 243; the upward suction cup module leg 214, the middle adjustment suction cup module leg 225 and the downward suction cup module leg 234 are in the high position of the module leg, and at the same time adsorb the glass curtain wall, the main body module 1 is propped up, and the roller brush is separated from the glass curtain wall.

[0086] When starting to go down and overcome obstacles, the main body 11 controls the lifting motor 12 to wind up the climbing wire rope 3, and the main body module 1 goes down along the main body optical axis 242; at the same time, the main body 11 controls the suction cup module leg 234 to change from adsorption to release and lift it to a preset height; then the downward screw motor 231 is controlled to reverse until the downward screw motor 231 stops at the maximum preset stroke; finally, the downward suction cup module leg 234 is controlled to fall to a preset height, and the suction cup changes from release to adsorption, completing the obstacle crossing of the downward leg assembly 23.

[0087] Then the main body 11 controls the upward suction cup module leg 214, the middle suction cup module leg 225 and the downward suction cup module leg 234 to move downward until the middle suction cup module leg 225 reaches the obstacle; at this time, the upward lead screw nut mounting part 221 is located at the preset minimum stroke of the upward lead screw motor 211, and the downward lead screw nut mounting part 223 is located at the preset maximum stroke of the downward lead screw motor 231; the upward suction cup module leg 214, the middle suction cup module leg 2 25 and the downward suction cup module leg 234 suction cup adsorbs the wall surface; then the main body 11 controls the suction cup of the middle adjustment suction cup module leg 225 to change from adsorption to release, and lifts it to a preset height; then the upward screw motor 211 is controlled to reverse, and the downward screw motor 231 is controlled to rotate forward at a constant speed until the downward screw motor 231 stops at the preset minimum stroke; finally, the middle adjustment suction cup module leg 225 is controlled to fall to a preset height, and the suction cup changes from release to adsorption, completing the obstacle crossing of the middle adjustment leg assembly 22.

[0088] Then the main body 11 controls the upward suction cup module leg 214, the middle adjustment suction cup module leg 225 and the downward suction cup module leg 234 to move downward until the downward suction cup module leg 234 reaches the obstacle; at this time, the upward screw nut mounting part 221 is located at the preset maximum stroke of the upward screw motor 211, and the downward screw nut mounting part 223 is located at the preset maximum stroke of the downward screw motor 231; the suction cups of the upward suction cup module leg 214, the middle adjustment suction cup module leg 225 and the downward suction cup module leg 234 adsorb the wall surface; then, the main body 11 controls the suction cup of the downward suction cup module leg 234 to change from adsorption to release and lift it to a preset height; then the upward screw motor 211 is controlled to rotate forward until the upward screw motor 211 stops at the minimum preset stroke; finally, the upward suction cup module leg 214 is controlled to fall to a preset height, and the suction cup changes from release to adsorption, completing the obstacle crossing of the upward leg assembly 21.

[0089] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A foot-type wall-climbing obstacle-crossing robot, characterized in that: include: The main body module includes a main body and a lifting motor. The main body has a built-in controller and a laser radar. The lifting motor is fixed to a preset position of the main body and drives the main body to rise and fall through a winding and climbing wire rope; A walking module, comprising an upward outrigger assembly, a middle outrigger assembly, a downward outrigger assembly and a guide rail assembly symmetrically distributed on both sides of the main body; The guide rail assembly includes a leg optical axis, a main body optical axis and an optical axis end seal, which is used to guide the main body and each leg assembly in series and realize the relative independent movement of the main body module and the walking module.

2. The foot-type wall-climbing obstacle-crossing robot according to claim 1, characterized in that: The upward leg assembly comprises: An upward lead screw motor, an upward lead screw motor mounting part, an upward suction cup module leg slider and an upward suction cup module leg; The upward lead screw motor is fixed to the upward lead screw motor mounting member by means of bolts, and the upward lead screw motor mounting member is nested on the support leg optical axis by means of a built-in linear bearing; The upward suction cup module legs are embedded with a module motor, a micro vacuum pump and a suction cup, and lifting and lowering are achieved through sliders of the upward suction cup module legs.

3. The foot-type wall-climbing obstacle-crossing robot according to claim 1, characterized in that: The mid-adjustable leg assembly comprises: An upward lead screw nut mounting part, a middle adjustment optical axis, a downward lead screw nut mounting part, a middle adjustment suction cup module leg slider and a middle adjustment suction cup module leg; The middle light-adjusting axis is fixed in the prefabricated hole of the upward lead screw nut mounting member by means of bolts, and is connected in series with the downward lead screw nut mounting member; The center-adjustable suction cup module legs are embedded with a module motor, a micro vacuum pump and a suction cup, and lifting and lowering are achieved through sliders of the center-adjustable suction cup module legs.

4. The foot-type wall-climbing obstacle-crossing robot according to claim 1, characterized in that: The descending leg assembly comprises: A downward lead screw motor, a downward lead screw motor mounting part, a downward suction cup module leg slider and a downward suction cup module leg; The downward lead screw motor is fixed to the downward lead screw motor mounting member by means of bolts, and the downward lead screw motor mounting member is nested on the support leg optical axis by means of a built-in linear bearing; The descending suction cup module legs are embedded with a module motor, a micro vacuum pump and a suction cup, and lifting and lowering are achieved through the descending suction cup module leg sliders.

5. The foot-type wall-climbing obstacle-crossing robot according to any one of claims 2 to 4, characterized in that: The suction cup module leg sliders of the upward suction cup module leg, the middle adjustment suction cup module leg and the downward suction cup module leg are all fixed to the mounting parts of the corresponding leg assemblies by bolts, and are slidably matched with the leg optical axis of the guide rail assembly.

6. The foot-type wall-climbing obstacle-crossing robot according to claim 1, characterized in that: The optical axis end seal is fixed to both ends of the optical axis of the support leg and the optical axis of the main body by bolts to prevent the main body and each support leg assembly from falling off the optical axis.

7. The foot-type wall-climbing obstacle-crossing robot according to claim 1, characterized in that: The main body optical axis is embedded in a linear bearing preset in the main body, and is fixedly connected with the support leg optical axis through the optical axis end seal to form a guide track.

8. The foot-type wall-climbing obstacle-crossing robot according to claim 1, characterized in that: The center dimming shaft is provided with a center dimming shaft stop ring, and the center dimming shaft stop ring is fixed to the end of the center dimming shaft by bolts to prevent the center dimming shaft from being separated from the downward lead screw nut mounting member.

9. The foot-type wall-climbing obstacle-crossing robot according to claim 1, characterized in that: The upward lead screw nut mounting part and the downward lead screw nut mounting part both have built-in fixed lead screw nuts, which are respectively connected to the lead screw threads of the upward lead screw motor and the downward lead screw motor.

10. The foot-type wall-climbing obstacle-crossing robot according to claim 1, characterized in that: The laser radars of the main body are respectively externally arranged at the top and the bottom for scanning the outline of obstacles, and the controller is used for controlling the leg assembly to adjust to an obstacle-crossing state according to the outline of the obstacle.

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