Swing gait curtain wall detection robot and obstacle crossing method thereof

Abstract

The invention discloses a swing gait curtain wall detection robot and an obstacle crossing method thereof, and relates to the technical field of building glass curtain wall maintenance and cleaning. The problems that when an existing climbing robot faces common obstacles such as drainage grooves and decoration lines on the surface of a curtain wall, due to the limitation of the structure of the existing climbing robot, the obstacle crossing stability of the climbing robot is low, and the working efficiency and reliability of the climbing robot are seriously affected are solved. A machine body movable base plate is hinged to the upper portion of a machine body fixing main plate and relatively swings under the action of a steering driving motor, the front end and the rear end of the machine body fixing main plate are each provided with two obstacle crossing legs, and the left end and the right end of the machine body fixing main plate are rotationally connected with the two obstacle crossing legs through two switching blocks correspondingly; the tail ends of the four obstacle crossing legs are respectively provided with four adsorption translation feet, and the machine body fixing main plate is connected with the two adapter blocks through steering follow-up mechanisms. The obstacle crossing ability, steering flexibility and stability of the climbing robot are improved, and work is completed in a glass curtain wall with obstacles.

Description

Technical Field

[0001] The present invention relates to the technical field of building glass curtain wall maintenance and cleaning, and in particular to a curtain wall detection robot with a swinging gait and an obstacle crossing method thereof. Background Art

[0002] Architectural glass curtain walls are widely used in modern buildings, favored for their aesthetics and light transmittance. However, maintaining and cleaning these walls present significant challenges, especially in high-rise buildings. To address this challenge, unmanned climbing robot technology has become a key research focus. In modern architecture, architectural glass curtain walls are widely used in high-rise buildings due to their stylish appearance and excellent light transmittance. However, maintaining and cleaning these walls presents numerous challenges, particularly in ultra-high-rise buildings. Not only are the operations extremely risky, but traditional manual cleaning methods are inefficient and costly. Consequently, unmanned climbing robot technology has become a core area of research for researchers to address this challenge.

[0003] Existing unmanned climbing robots face numerous challenges in overcoming obstacles. Due to structural limitations, existing robots often struggle with obstacles like gutters and decorative moldings on curtain wall surfaces, resulting in low stability and severely impacting their efficiency and reliability. To successfully navigate glass curtain wall structures, an unmanned climbing robot with robust obstacle-crossing capabilities, flexible steering, and high stability is urgently needed. Summary of the Invention

[0004] The purpose of the present invention is to solve the problem that when existing unmanned climbing robots face common obstacles such as drainage gutters and decorative lines on curtain wall surfaces, due to the limitations of their own structures, the climbing robots have low stability in overcoming obstacles, which seriously affects their work efficiency and reliability. Furthermore, a curtain wall inspection robot with a swinging gait and an obstacle overcoming method thereof are provided.

[0005] The technical solution of the present invention is:

[0006] A swinging gait curtain wall detection robot, the robot includes a body fixed mainboard 1 arranged horizontally along the robot body axis MM direction, a body movable baseboard 2 is hinged above the body fixed mainboard 1, the body movable baseboard 2 and the body fixed mainboard 1 are relatively swung by a steering drive motor 3 fixedly embedded in the body fixed mainboard 1 to realize the steering movement of the robot body, two obstacle crossing legs 4 are fixedly installed at the front and rear ends of the body fixed mainboard 1, the left and right ends of the body fixed mainboard 1 are respectively rotatably connected to the two obstacle crossing legs 4 through two adapter blocks 5, the ends of the four obstacle crossing legs 4 are respectively installed with four adsorption translation feet 6, and four radar probes 8 are respectively installed on the upper front sides of the four adsorption translation feet 6, the body fixed mainboard 1 and the two adapter blocks 5 are connected by a steering follow-up mechanism 7 to realize the left and right obstacle crossing legs 4 following the steering movement of the robot body, so that the left and right obstacle crossing legs 4 are always parallel to the robot body axis MM.

[0007] Furthermore, the steering follower mechanism 7 includes an intermediate follower toothed belt pulley 701 fixedly mounted on the bottom of the fuselage fixed main board 1, and two side follower toothed belt pulleys 702 are respectively provided on the left and right sides of the intermediate follower toothed belt pulley 701. The number of teeth of the intermediate follower toothed belt pulley 701 and the two side follower toothed belt pulleys 702 are equal, and the two side follower toothed belt pulleys 702 are respectively fixedly mounted on the bottom of the two adapter blocks 5. The intermediate follower toothed belt pulley 701 and the two side follower toothed belt pulleys 702 are connected by a follower synchronous toothed belt 703 to transmit power.

[0008] Furthermore, the steering follower mechanism 7 also includes two tensioning pulleys 704, which are located on the side of the follower synchronous toothed belt 703 away from the intermediate follower toothed pulley 701 and in contact with the follower synchronous toothed belt 703. The rotating shaft of the tensioning pulley 704 is rotatably installed on the fixed main board 1 of the fuselage, and the intermediate follower toothed pulley 701 is arranged on the left and right sides of the two tensioning pulleys 704 to realize the tensioning of the follower synchronous toothed belt 703.

[0009] Furthermore, each obstacle crossing leg 4 includes a thigh frame 401, the front end of the thigh frame 401 is hinged to the end of the fuselage fixed main board 1 and / or the adapter block 5 through a hip joint, the end of the thigh frame 401 is hinged to the calf frame 402 through a knee joint, and the hip joint and the knee joint are connected through a lifting and lowering drive mechanism 403 to realize the lifting or lowering action of the thigh frame 401 and the calf frame 402.

[0010] Furthermore, the hip joint includes a first joint bracket 404 and a first joint shaft 405, the first joint bracket 404 includes a first rectangular flange, the first rectangular flange is connected to the end of the fuselage fixed main board 1 and / or the adapter block 5, the other end of the first rectangular flange is provided with two first ear plates, the two first ear plates are provided with axial holes and are rotatably connected to the first joint shaft 405, the head end of the thigh frame 401 is provided with an axial hole and is connected to the first joint shaft 405 through a flat key.

[0011] Furthermore, the knee joint includes a second joint bracket 406 and a second joint shaft 407, the second joint bracket 406 includes a second rectangular flange, the second rectangular flange is connected to the head end of the calf frame 402, and the other end of the second rectangular flange is provided with two second ear plates, the two second ear plates are provided with axial holes and are connected to the second joint shaft 407 through a flat key, and the end of the thigh frame 401 is provided with an axial hole and is rotatably connected to the second joint shaft 407.

[0012] Furthermore, the lifting and lowering drive mechanism 403 includes a lifting and lowering drive motor 408, the lifting and lowering drive motor 408 shaft is connected to one end of the first joint shaft 405, the lifting and lowering drive motor 408 shell is installed on the thigh frame 401, the first joint shaft 405 is installed with an active lifting and lowering toothed pulley 409 and is connected by a flat key, the second joint shaft 407 is installed with a driven lifting and lowering toothed pulley 410 and is connected by a flat key, the driven lifting and lowering toothed pulley 410 is connected to the active lifting and lowering toothed pulley 409 through a lifting and lowering synchronous toothed belt 411 to transmit power.

[0013] Furthermore, the adsorption translation foot 6 includes an adsorption cavity 601, which is a rectangular cavity with an opening at the bottom. A translation track transmission assembly is provided inside the adsorption cavity 601. A cover plate 602 is detachably installed at the bottom opening of the adsorption cavity 601. The cover plate 602 is provided with a track avoidance gap that matches the translation track transmission assembly. A negative pressure pump 603 that is connected to the inner cavity of the adsorption cavity 601 is provided at the top of the adsorption cavity 601. A fixed seat 604 is also installed at the top of the adsorption cavity 601, and the top of the fixed seat 604 is connected to the end of the calf skeleton 402.

[0014] Furthermore, the translational track transmission assembly includes a translational drive frame 605, which is a U-shaped frame structure. At least one track transmission mechanism is provided between the two wing plates of the translational drive frame 605. The track transmission mechanism includes two track wheels 606 installed on the wing plates on both sides of the translational drive frame 605. The two track wheels 606 are connected by rubber tracks 607 to transmit power. The outer surface of the rubber track 607 is provided with a number of evenly arranged W-shaped grooves. A translational drive motor 608 is provided between the two track wheels 606. The rotating shaft of the translational drive motor 608 is connected to the active translation pulley 609. A driven translation pulley 610 is installed at the end of the rotating shaft of one of the track wheels 606. The driven translation pulley 610 is connected to the active translation pulley 609 through a translation synchronous belt 611 to transmit power.

[0015] The present invention also provides an obstacle crossing method for a curtain wall detection robot with a swinging gait. The obstacle crossing method is implemented based on the above-mentioned curtain wall detection robot with a swinging gait, and the method is implemented by the following steps:

[0016] Step 1: Barrier-free movement process:

[0017] During the obstacle-free movement of the robot, the robot body is in the initial position, and the obstacle-crossing legs 4 and the adsorption and translation feet 6 on the left and right sides are symmetrically distributed to ensure the balance of movement;

[0018] Step 2: Overcoming the obstacle ahead:

[0019] When the front adsorption translation foot 6 reaches the obstacle, the robot's front obstacle-crossing leg 4 and adsorption translation foot 6 are first lifted, and the side and rear adsorption translation feet 6 are adsorbed on the curtain wall surface and translated; after the robot is propelled to move a short distance, the robot body begins to rotate. During the rotation, the left adsorption translation foot 6 always remains in the adsorption state and moves, while the right obstacle-crossing leg 4 and adsorption translation foot 6 are lifted. When the right adsorption translation foot 6 rotates until it crosses the obstacle, it is adsorbed and moved again;

[0020] Step 3: Overcoming the obstacle on the left:

[0021] When the left adsorption translation foot 6 reaches the obstacle, the robot body rotates again. During the rotation, the right adsorption translation foot 6 always maintains the adsorption state and moves; the left obstacle-crossing leg 4 and the adsorption translation foot 6 are lifted, and when the left adsorption translation foot 6 rotates to the left and crosses the obstacle, it moves again;

[0022] Step 4: Crossing the obstacle on the right:

[0023] When the right adsorption translation foot 6 reaches the obstacle, the robot body rotates again. During the rotation, the left adsorption translation foot 6 always maintains the adsorption state and moves; the right obstacle-crossing leg 4 and the adsorption translation foot 6 are lifted, and when the right adsorption translation foot 6 rotates until it crosses the obstacle, it moves again;

[0024] Step 5: Process of crossing the rear obstacle:

[0025] When the rear adsorption translation foot 6 reaches the obstacle, the robot's rear obstacle-crossing leg 4 and adsorption translation foot 6 are lifted up, and the adsorption translation feet 6 on both sides and in front are adsorbed on the surface of the curtain wall and translated, continuing to propel the robot forward. The rear obstacle-crossing leg 4 is lowered after crossing the obstacle, and the obstacle crossing is completed.

[0026] Compared with the prior art, the present invention has the following effects:

[0027] 1. Strong Obstacle-Crossing Stability: The present invention's swing-gait curtain wall inspection robot achieves simultaneous three-legged adsorption during obstacle climbing, effectively ensuring stability and safety. Compared to other climbing robots, the present invention is better able to cope with complex obstacle environments, reducing accidents caused by unstable adsorption, and providing greater safety during high-altitude curtain wall operations.

[0028] 2. High mobility flexibility: The swinging gait curtain wall inspection robot of the present invention realizes body rotation through the steering follower mechanism 7, and can adjust the spatial position of the adsorption and translation feet 6. The adsorption and translation feet 6 on the left and right sides can realize spatial movement, so that the robot can change its position more flexibly when facing different obstacles and easily overcome various obstacles. The movement methods of some other climbing robots are relatively fixed and less flexible.

[0029] 3. Wide range of application for obstacle crossing: The swinging gait curtain wall inspection robot of the present invention can maintain good balance when moving without obstacles. When encountering obstacles, it can achieve efficient obstacle crossing through the unique coordination of the four obstacle crossing legs 4 in the front, back, left and right, as well as the alternating adsorption movement of the body rotation and adsorption translation feet 6. The rotating body allows the robot to adapt to obstacles of various sizes and shapes. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of a curtain wall inspection robot with a swinging gait according to the present invention; Figure 2 It is an axonometric diagram of a curtain wall inspection robot with a swinging gait according to the present invention; Figure 3 It is a top view of a curtain wall inspection robot with a swinging gait according to the present invention; Figure 4 It is a bottom view of a curtain wall inspection robot with a swinging gait according to the present invention; Figure 5 It is a structural schematic diagram of a robot body in a swing gait curtain wall inspection robot of the present invention; Figure 6It is an axonometric view of a robot body in a swing gait curtain wall inspection robot of the present invention; Figure 7 It is a top view of a robot body in a curtain wall inspection robot with a swinging gait according to the present invention; Figure 8 yes Figure 7 Cross-sectional view at AA; Figure 9 This is a schematic structural diagram of the assembly of the obstacle-crossing leg 4 and the adsorption-translation foot 6 in a curtain wall inspection robot with a swinging gait according to the present invention; Figure 10 This is an axonometric diagram of the assembly of the obstacle-crossing leg 4 and the adsorption-translation foot 6 of the curtain wall inspection robot with a swinging gait according to the present invention; Figure 11 This is a schematic structural diagram of an obstacle-crossing leg 4 in a curtain wall inspection robot with a swinging gait according to the present invention; Figure 12 This is an axonometric diagram of the obstacle-crossing leg 4 of the curtain wall detection robot with a swinging gait according to the present invention; Figure 13 It is a structural schematic diagram of a swing gait curtain wall inspection robot of the present invention, which includes an adsorption translation foot 6 of a crawler transmission mechanism; Figure 14 It is an axonometric view of an adsorption translation foot 6 including a crawler transmission mechanism of a curtain wall inspection robot with a swinging gait according to the present invention; Figure 15 1 is a schematic structural diagram of an adsorption translation foot 6 including two crawler transmission mechanisms of a curtain wall inspection robot with a swinging gait according to the present invention; Figure 16 It is an axonometric view of an adsorption translation foot 6 including two crawler transmission mechanisms in a curtain wall inspection robot with a swinging gait according to the present invention.

[0031] In the figure: MM is the axis of the robot body; 1 is the fixed mainboard of the body; 2 is the movable baseboard of the body; 3 is the steering drive motor; 4 is the obstacle crossing leg; 401 is the thigh frame; 402 is the calf frame; 403 is the lifting and landing drive mechanism; 404 is the first joint bracket; 405 is the first joint shaft; 406 is the second joint bracket; 407 is the second joint shaft; 408 is the lifting and landing drive motor; 409 is the active lifting and landing toothed pulley; 410 is the driven lifting and landing toothed pulley; 411 is the lifting and landing synchronous toothed belt; 5 is the adapter block ; 6 is the adsorption translation foot; 601 is the adsorption cavity; 602 is the cover plate; 603 is the negative pressure pump; 604 is the fixed seat; 605 is the translation drive frame; 606 is the track wheel; 607 is the rubber track; 608 is the translation drive motor; 609 is the active translation pulley; 610 is the driven translation pulley; 611 is the translation synchronous belt; 7 is the steering follower mechanism; 701 is the middle follower toothed pulley; 702 is the side follower toothed pulley; 703 is the follower synchronous toothed belt; 704 is the tensioner; 8 is the radar probe. DETAILED DESCRIPTION

[0032] Specific implementation method 1: Combination Figures 1 to 16The present embodiment is described. The present embodiment is a curtain wall detection robot with a swinging gait. The robot includes a fixed body mainboard 1 arranged horizontally along the robot body axis MM direction. A movable body baseboard 2 is hingedly connected above the fixed body mainboard 1. The movable body baseboard 2 and the fixed body mainboard 1 are relatively swung by a steering drive motor 3 fixedly embedded in the fixed body mainboard 1 to realize the steering movement of the robot body. Two obstacle crossing legs 4 are fixedly installed at the front and rear ends of the fixed body mainboard 1 respectively. The left and right ends of the fixed body mainboard 1 are rotatably connected to the two obstacle crossing legs 4 through two adapter blocks 5 respectively. Four adsorption translation feet 6 are respectively installed at the ends of the four obstacle crossing legs 4. Four radar probes 8 are respectively installed on the upper front sides of the four adsorption translation feet 6. The fixed body mainboard 1 and the two adapter blocks 5 are connected by a steering follow-up mechanism 7 to realize the left and right obstacle crossing legs 4 following the steering movement of the robot body, so that the left and right obstacle crossing legs 4 are always parallel to the robot body axis MM.

[0033] In this embodiment, the swinging gait curtain wall detection robot is a rotatable robot main body structure. The rotation of the body enables the robot to achieve simultaneous three-legged adsorption during the obstacle crossing process, ensuring the stability and safety of the robot during the obstacle crossing process.

[0034] The present invention provides an adsorption-type four-legged climbing curtain wall inspection robot with a rotating body. It has four obstacle-crossing legs 4, which are distributed in the four directions of the front, back, left and right of the robot body. The obstacle-crossing legs 4 are raised and lowered by the lifting and lowering drive motor 408. Each obstacle-crossing leg 4 is connected to an adsorption translation foot 6, which achieves adsorption through vacuum. A translation track transmission assembly is provided inside the adsorption translation foot 6 to achieve robot movement. At the same time, radar probes 8 are provided on the four adsorption translation feet 6 to provide comprehensive environmental information, thereby realizing accurate obstacle detection and obstacle avoidance functions. The robot can realize the rotation of the robot body through the steering follower mechanism 7, adjust the spatial position of the adsorption translation foot 6, and realize three-legged adsorption simultaneously during the obstacle crossing process, thereby improving the stability and safety of obstacle crossing.

[0035] Specific implementation method 2: Combination Figures 1 to 16To explain this embodiment, the steering follower mechanism 7 includes a central follower toothed pulley 701 fixedly mounted on the bottom of the fixed mainboard 1. Two side follower toothed pulleys 702 are attached to the left and right sides of the central follower toothed pulley 701. The central follower toothed pulley 701 and the two side follower toothed pulleys 702 have the same number of teeth. These two side follower toothed pulleys 702 are fixedly mounted on the bottoms of two adapter blocks 5. These central follower toothed pulleys 701 and the two side follower toothed pulleys 702 are connected by a follower synchronous toothed belt 703 for power transmission. This arrangement ensures that the central follower toothed pulley 701 and the two side follower toothed pulleys 702 in the steering follower mechanism 7 have the same number of teeth and module. When the robot traverses an obstacle, the steering follower mechanism 7 ensures that the left and right obstacle-crossing legs 4 remain parallel to the fixed mainboard 1. Other components and connections are the same as those in the first embodiment.

[0036] In this embodiment, the steering follower mechanism 7 can adopt gear and chain transmission methods in addition to the toothed pulley and synchronous toothed belt transmission methods. The fixed main board 1 and the movable base board 2 of the robot body are rotated by a gear chain transmission mechanism. This allows the climbing robot's obstacle-crossing legs 4 and the left and right adsorption and translation feet 6 to move in space. When one side of the adsorption and translation foot 6 reaches an obstacle, the robot body is rotated and the obstacle-crossing leg 4 is raised, allowing the adsorption and translation foot 6 on that side to cross the obstacle. During the robot's steering process, the adsorption and translation foot 6 on one side is adsorbed, and steering can be achieved by rotating the robot body and moving the other side of the adsorption and translation foot 6.

[0037] Specific implementation method three: Combination Figures 1 to 16 To explain this embodiment, the steering follower mechanism 7 also includes two tensioners 704. These tensioners 704 are located on the side of the follower synchronous toothed belt 703 away from the intermediate follower toothed pulley 701 and in contact with the follower synchronous toothed belt 703. The tensioner 704 shafts are rotatably mounted on the fixed mainboard 1 of the fuselage. The intermediate follower toothed pulley 701 is located on either side of the two tensioners 704 to tension the follower synchronous toothed belt 703. This arrangement tensions the follower synchronous toothed belt 703, ensuring tight engagement between the follower synchronous toothed belt 703 and the intermediate follower toothed pulley 701 and the side follower toothed pulleys 702 for power transmission. Other components and connections are the same as those in the first or second embodiment.

[0038] Specific implementation method four: Combination Figures 1 to 16To describe this embodiment, each obstacle-crossing leg 4 comprises a thigh frame 401, the front end of which is hinged to the end of the fuselage fixed mainboard 1 and / or the adapter block 5 via a hip joint. The rear end of the thigh frame 401 is hinged to the calf frame 402 via a knee joint. The hip and knee joints are connected by a lifting and lowering drive mechanism 403 to enable the lifting and lowering of the thigh frame 401 and calf frame 402. The remaining components and connection relationships are the same as those in Specific Embodiments 1, 2, or 3.

[0039] Specific implementation method five: Combination Figures 1 to 16 To describe this embodiment, the hip joint of this embodiment includes a first joint bracket 404 and a first joint shaft 405. The first joint bracket 404 includes a first rectangular flange, which is connected to the end of the fuselage fixed mainboard 1 and / or the adapter block 5. The other end of the first rectangular flange is provided with two first ear plates, which are provided with axial holes and are rotatably connected to the first joint shaft 405. The head end of the thigh skeleton 401 is provided with an axial hole and is connected to the first joint shaft 405 via a flat key. With this arrangement, the lifting and lowering drive motor 408 drives the first joint shaft 405 to rotate, thereby driving the thigh skeleton 401 connected to the first joint shaft 405 via a flat key to swing up and down. Other components and connection relationships are the same as those of specific embodiments one, two, three or four.

[0040] Specific implementation method six: combination Figures 1 to 16 To describe this embodiment, the knee joint of this embodiment includes a second joint bracket 406 and a second joint shaft 407. The second joint bracket 406 includes a second rectangular flange. The second rectangular flange is connected to the head end of the calf skeleton 402. The other end of the second rectangular flange is provided with two second ear plates. The two second ear plates are provided with shaft holes and are connected to the second joint shaft 407 through flat keys. The end of the thigh skeleton 401 is provided with a shaft hole and is rotatably connected to the second joint shaft 407. With this arrangement, the lifting and lowering drive motor 408 drives the second joint shaft 407 to rotate through the lifting and lowering drive mechanism 403, thereby driving the second joint bracket 406 connected to the second joint shaft 407 through the flat key to swing up and down, thereby causing the calf skeleton 402 connected to the second joint bracket 406 to swing up and down accordingly. Other components and connection relationships are the same as those of specific embodiments one, two, three, four or five.

[0041] Specific implementation method seven: combination Figures 1 to 16To explain this embodiment, the lifting and lowering drive mechanism 403 of this embodiment includes a lifting and lowering drive motor 408, the shaft of which is connected to one end of the first joint shaft 405. The lifting and lowering drive motor 408 housing is mounted on the thigh frame 401. The first joint shaft 405 is mounted with an active lifting and lowering toothed pulley 409 and connected via a flat key. The second joint shaft 407 is mounted with a driven lifting and lowering toothed pulley 410 and connected via a flat key. The driven lifting and lowering toothed pulley 410 is connected to the active lifting and lowering toothed pulley 409 via a lifting and lowering synchronous toothed belt 411 to transmit power. With this arrangement, a single motor drive replaces the existing dual-motor drive. The motor, toothed pulley, and synchronous toothed belt cooperate to accurately transmit power, reduce energy loss, improve power transmission efficiency, and enhance the stability of the curtain wall robot during obstacle traversal. Furthermore, the transmission mechanism of the motor, toothed pulley, and synchronous toothed belt is more compact and simple than a dual-motor drive, effectively reducing the weight of the device. The lighter robot body provides greater stability during high-altitude operations, and the single-motor drive also reduces production and maintenance costs. Other components and connections are the same as those in Specific Embodiments 1, 2, 3, 4, 5, or 6.

[0042] Specific implementation method eight: combination Figures 1 to 16 To explain this embodiment, the adsorption translation foot 6 of this embodiment includes an adsorption cavity 601, which is a rectangular cavity with an opening at the bottom. A translation track transmission assembly is provided inside the adsorption cavity 601. A cover plate 602 is detachably installed at the bottom opening of the adsorption cavity 601. The cover plate 602 is provided with a track avoidance notch that matches the translation track transmission assembly. A negative pressure pump 603 is provided at the top of the adsorption cavity 601, which is connected to the inner cavity of the adsorption cavity 601. A fixing seat 604 is also installed at the top of the adsorption cavity 601. The top of the fixing seat 604 is connected to the end of the calf frame 402. With this arrangement, the adsorption translation foot 6 realizes the curtain wall adsorption function through the cooperation of the adsorption cavity 601 and the negative pressure pump 603; the adsorption translation foot 6 realizes the translation action through the translation track transmission assembly. Other components and connection relationships are the same as those of specific embodiments one, two, three, four, five, six or seven.

[0043] Specific implementation method nine: combination Figures 1 to 16Describing this embodiment, the translational track transmission assembly of this embodiment includes a translational drive frame 605, which is a U-shaped frame structure. At least one track transmission mechanism is provided between the two wing plates of the translational drive frame 605. The track transmission mechanism includes two track wheels 606 installed on the wing plates on both sides of the translational drive frame 605. The two track wheels 606 are connected by a rubber track 607 to transmit power. The outer surface of the rubber track 607 is provided with a number of evenly arranged W-shaped grooves. A translational drive motor 608 is provided between the two track wheels 606. The rotating shaft of the translational drive motor 608 is connected to the active translation pulley 609. A driven translation pulley 610 is installed at the end of the rotating shaft of one of the track wheels 606. The driven translation pulley 610 is connected to the active translation pulley 609 through a translation synchronous belt 611 to transmit power. With this arrangement, the translation drive motor 608 sequentially transmits power to the active translation pulley 609, the translation synchronous belt 611, and the driven translation pulley 610, and then to the track wheel 606 and the rubber track 607, thereby achieving the translation operation of the adsorption translation foot 6. The other components and connection relationships are the same as those of the specific embodiments 1, 2, 3, 4, 5, 6, 7, or 8.

[0044] Specific implementation method ten: Combination Figures 1 to 16 This embodiment describes an obstacle crossing method for a curtain wall detection robot with a swinging gait. The obstacle crossing method is implemented based on the aforementioned curtain wall detection robot with a swinging gait. The method is implemented by the following steps:

[0045] Step 1: Barrier-free movement process:

[0046] During the obstacle-free movement of the robot, the robot body is in the initial position, and the obstacle-crossing legs 4 and the adsorption and translation feet 6 on the left and right sides are symmetrically distributed to ensure the balance of movement;

[0047] Step 2: Overcoming the obstacle ahead:

[0048] When the front adsorption translation foot 6 reaches the obstacle, the robot's front obstacle-crossing leg 4 and adsorption translation foot 6 are first lifted, and the side and rear adsorption translation feet 6 are adsorbed on the curtain wall surface and translated; after the robot is propelled to move a short distance, the robot body begins to rotate. During the rotation, the left adsorption translation foot 6 always remains in the adsorption state and moves, while the right obstacle-crossing leg 4 and adsorption translation foot 6 are lifted. When the right adsorption translation foot 6 rotates until it crosses the obstacle, it is adsorbed and moved again;

[0049] Step 3: Overcoming the obstacle on the left:

[0050] When the left adsorption translation foot 6 reaches the obstacle, the robot body rotates again. During the rotation, the right adsorption translation foot 6 always maintains the adsorption state and moves; the left obstacle-crossing leg 4 and the adsorption translation foot 6 are lifted, and when the left adsorption translation foot 6 rotates to the left and crosses the obstacle, it moves again;

[0051] Step 4: Crossing the obstacle on the right:

[0052] When the right adsorption translation foot 6 reaches the obstacle, the robot body rotates again. During the rotation, the left adsorption translation foot 6 always maintains the adsorption state and moves; the right obstacle-crossing leg 4 and the adsorption translation foot 6 are lifted, and when the right adsorption translation foot 6 rotates until it crosses the obstacle, it moves again;

[0053] Step 5: Process of crossing the rear obstacle:

[0054] When the rear traction translation foot 6 reaches the obstacle, the robot's rear obstacle-crossing leg 4 and traction translation foot 6 are lifted, and the side and front traction translation feet 6 adhere to the curtain wall surface and translate, continuing to propel the robot forward. After the rear obstacle-crossing leg 4 clears the obstacle, it is lowered, completing the obstacle crossing. The remaining components and connections are the same as those in Embodiments 1, 2, 3, 4, 5, 6, 7, 8, or 9.

[0055] In this embodiment, rotating the robot body makes the robot's turning movement more flexible. The left side adsorption and translation foot 6 is adsorbed, the robot body is rotated, and the right side adsorption and translation foot 6 is moved to achieve a left turn; the right side adsorption and translation foot 6 is adsorbed, the robot body is rotated, and the left side adsorption and translation foot 6 is moved to achieve a right turn.

[0056] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A curtain wall inspection robot with a swinging gait, characterized by: The robot comprises a body fixed mainboard (1) arranged horizontally along the direction of the robot body axis (MM), a body movable baseboard (2) is hingedly connected above the body fixed mainboard (1), the body movable baseboard (2) and the body fixed mainboard (1) are relatively swung by a steering drive motor (3) fixedly embedded in the body fixed mainboard (1) to realize the steering movement of the robot body, two obstacle crossing legs (4) are fixedly installed at the front and rear ends of the body fixed mainboard (1), the left and right ends of the body fixed mainboard (1) are rotatably connected to the two obstacle crossing legs (4) through two adapter blocks (5), the ends of the four obstacle crossing legs (4) are respectively installed with four adsorption translation feet (6), and the upper front sides of the four adsorption translation feet (6) are respectively installed with four radar probes (8), and the body fixed mainboard (1) and the two adapter blocks (5) are connected by a steering follower mechanism (7) to realize the left and right obstacle crossing legs (4) following the steering movement of the robot body, so that the left and right obstacle crossing legs (4) are always parallel to the robot body axis (MM).

2. The curtain wall inspection robot with a swinging gait according to claim 1, characterized in that: The steering follower mechanism (7) comprises a middle follower toothed belt pulley (701) fixedly mounted on the bottom of the fixed mainboard (1) of the fuselage, two side follower toothed belt pulleys (702) are respectively provided on the left and right sides of the middle follower toothed belt pulley (701), the middle follower toothed belt pulley (701) and the two side follower toothed belt pulleys (702) have the same number of teeth, the two side follower toothed belt pulleys (702) are respectively fixedly mounted on the bottoms of the two adapter blocks (5), and the middle follower toothed belt pulley (701) and the two side follower toothed belt pulleys (702) are connected via a follower synchronous toothed belt (703) to transmit power.

3. The curtain wall inspection robot with a swinging gait according to claim 2, characterized in that: The steering follower mechanism (7) further comprises two tensioning wheels (704), the two tensioning wheels (704) being located on a side of the follower synchronous toothed belt (703) away from the middle follower toothed belt wheel (701) and in contact with the follower synchronous toothed belt (703), the rotation shaft of the tensioning wheel (704) being rotatably mounted on the fixed mainboard (1) of the fuselage, and the middle follower toothed belt wheel (701) being arranged on the left and right sides of the two tensioning wheels (704) for achieving tensioning of the follower synchronous toothed belt (703).

4. A curtain wall inspection robot with a swinging gait according to claim 1, 2 or 3, characterized in that: Each obstacle crossing leg (4) comprises a thigh frame (401), the front end of the thigh frame (401) being hinged to the end of the fuselage fixed main board (1) and / or the adapter block (5) via a hip joint, the rear end of the thigh frame (401) being hinged to the calf frame (402) via a knee joint, and the hip joint and the knee joint being connected via a lifting and lowering drive mechanism (403) to achieve the lifting or lowering action of the thigh frame (401) and the calf frame (402).

5. The curtain wall inspection robot with swinging gait according to claim 4, characterized in that: The hip joint comprises a first joint bracket (404) and a first joint shaft (405), the first joint bracket (404) comprising a first rectangular flange, the first rectangular flange being connected to the end of the fuselage fixed mainboard (1) and / or the adapter block (5), the other end of the first rectangular flange being provided with two first ear plates, the two first ear plates being provided with axial holes and being rotatably connected to the first joint shaft (405), the head end of the thigh frame (401) being provided with an axial hole and being connected to the first joint shaft (405) via a flat key.

6. The curtain wall inspection robot with swinging gait according to claim 5, characterized in that: The knee joint includes a second joint bracket (406) and a second joint shaft (407), the second joint bracket (406) includes a second rectangular flange, the second rectangular flange is connected to the head end of the calf frame (402), the other end of the second rectangular flange is provided with two second ear plates, the two second ear plates are provided with shaft holes and are connected to the second joint shaft (407) through a flat key, and the end of the thigh frame (401) is provided with a shaft hole and is rotatably connected to the second joint shaft (407).

7. The curtain wall inspection robot with swinging gait according to claim 6, characterized in that: The lifting and lowering drive mechanism (403) includes a lifting and lowering drive motor (408), the lifting and lowering drive motor (408) has a rotating shaft connected to one end of the first joint rotating shaft (405), the lifting and lowering drive motor (408) housing is installed on the thigh frame (401), the first joint rotating shaft (405) is installed with an active lifting and lowering toothed pulley (409) and is connected via a flat key, the second joint rotating shaft (407) is installed with a driven lifting and lowering toothed pulley (410) and is connected via a flat key, the driven lifting and lowering toothed pulley (410) and the active lifting and lowering toothed pulley (409) are connected via a lifting and lowering synchronous toothed belt (411) to transmit power.

8. A curtain wall inspection robot with a swinging gait according to claim 5, 6 or 7, characterized in that: The adsorption translation foot (6) includes an adsorption cavity (601), which is a rectangular cavity with an opening at the bottom. A translation track transmission assembly is provided inside the adsorption cavity (601). A cover plate (602) is detachably installed at the bottom opening of the adsorption cavity (601), and a track avoidance gap matching the translation track transmission assembly is provided on the cover plate (602). A negative pressure pump (603) connected to the inner cavity of the adsorption cavity (601) is provided at the top of the adsorption cavity (601). A fixing seat (604) is also installed at the top of the adsorption cavity (601), and the top of the fixing seat (604) is connected to the end of the calf frame (402).

9. The curtain wall inspection robot with swinging gait according to claim 8, characterized in that: The translation crawler transmission assembly includes a translation drive frame (605), the translation drive frame (605) is a U-shaped frame structure, and at least one crawler transmission mechanism is provided between the two wing plates of the translation drive frame (605). The crawler transmission mechanism includes two track wheels (606) installed on the wing plates on both sides of the translation drive frame (605), the two track wheels (606) are connected by a rubber track (607) to transmit power, the outer surface of the rubber track (607) is provided with a plurality of evenly arranged W-shaped grooves, a translation drive motor (608) is provided between the two track wheels (606), the translation drive motor (608) is connected to the active translation pulley (609) by a rotating shaft, a driven translation pulley (610) is installed at the end of the rotating shaft of one of the track wheels (606), and the driven translation pulley (610) and the active translation pulley (609) are connected by a translation synchronous belt (611) to transmit power.

10. An obstacle surmounting method for a curtain wall inspection robot with a swinging gait, characterized in that: The obstacle crossing method is implemented based on the swinging gait curtain wall detection robot according to claim 9, and the method is implemented by the following steps: Step 1: Barrier-free movement process: During the robot's obstacle-free movement, the robot body is in the initial position, and the obstacle-crossing legs (4) and the adsorption translation feet (6) on the left and right sides are symmetrically distributed to ensure the balance of movement; Step 2: Overcoming the obstacle ahead: When the front adsorption translation foot (6) reaches the obstacle, the robot's front obstacle-crossing leg (4) and adsorption translation foot (6) are first lifted, and the two side and rear adsorption translation feet (6) are adsorbed on the curtain wall surface and translated; after the robot is pushed to move a short distance, the robot body begins to rotate, and during the rotation, the left adsorption translation foot (6) always maintains the adsorption state and moves, and the right obstacle-crossing leg (4) and adsorption translation foot (6) are lifted, and when the right adsorption translation foot (6) rotates to cross the obstacle, it is adsorbed and moved again; Step 3: Overcoming the obstacle on the left: When the left adsorption translation foot (6) reaches an obstacle, the robot body rotates again, and during the rotation, the right adsorption translation foot (6) always maintains the adsorption state and moves; the left obstacle crossing leg (4) and the adsorption translation foot (6) are lifted, and when the left adsorption translation foot (6) rotates to the left and crosses the obstacle, it is adsorbed and moved again; Step 4: Crossing the obstacle on the right: When the right adsorption translation foot (6) reaches an obstacle, the robot body rotates again, and during the rotation, the left adsorption translation foot (6) always maintains the adsorption state and moves; the right obstacle-crossing leg (4) and the adsorption translation foot (6) are lifted, and after the right adsorption translation foot (6) rotates to cross the obstacle, it moves again; Step 5: Process of crossing the rear obstacle: When the rear adsorption translation foot (6) reaches the obstacle, the robot's rear obstacle-crossing leg (4) and adsorption translation foot (6) are lifted up, and the two side and front adsorption translation feet (6) are adsorbed on the curtain wall surface and moved horizontally, continuing to propel the robot forward. The rear obstacle-crossing leg (4) is lowered after crossing the obstacle, and the obstacle crossing is completed.

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