Swing gait curtain detection robot and obstacle crossing method thereof

Abstract

The application relates to a swing gait curtain detection robot and an obstacle crossing method thereof, and relates to the technical field of building glass curtain wall maintenance and cleaning. The application solves the problem that the existing climbing robot has low obstacle crossing stability and seriously influences the working efficiency and reliability due to the limitation of the structure of the climbing robot when facing the common obstacles such as drainage grooves and decorative lines on the curtain wall surface. The body fixed main plate is hingedly connected with a body movable base plate above the body fixed main plate and swings relative to the body fixed main plate under the action of a steering driving motor, two obstacle crossing legs are respectively installed at the front and rear ends of the body fixed main plate, two obstacle crossing legs are respectively rotatably connected to the left and right ends of the body fixed main plate through two adapter blocks, four adsorption translation feet are respectively installed at the ends of the four obstacle crossing legs, and the body fixed main plate is connected with the two adapter blocks through a steering follow-up mechanism. The application is used for improving the obstacle crossing ability, steering flexibility and stability of the climbing robot, and completing the work in the glass curtain wall with obstacles.

Description

Technical Field

[0001] This invention relates to the field of building glass curtain wall maintenance and cleaning technology, specifically to a swinging gait curtain wall detection robot and its obstacle-crossing method. Background Technology

[0002] Architectural glass curtain walls are widely used in modern architecture, favored for their aesthetic appeal and light transmission. However, the maintenance and cleaning of glass curtain walls face significant challenges, especially in high-rise buildings. To address this issue, unmanned climbing robot technology has become a key research focus. In the field of modern architecture, architectural glass curtain walls, with their stylish appearance and excellent light transmission, are widely used in various high-rise buildings. However, the maintenance and cleaning of glass curtain walls is fraught with difficulties, especially in super high-rise buildings, where not only are the operational risks extremely high, but traditional manual cleaning methods are also inefficient and costly. Therefore, unmanned climbing robot technology has become a core direction for researchers to overcome this challenge.

[0003] Existing unmanned climbing robots face numerous severe challenges in obstacle crossing. When encountering obstacles commonly found on curtain wall surfaces, such as drainage channels and decorative lines, the limitations of their structure result in low stability during obstacle crossing, severely impacting their work efficiency and reliability. To complete tasks within glass curtain walls containing obstacles, there is an urgent need for an unmanned climbing robot with strong obstacle-crossing capabilities, flexible maneuverability, and high stability. Summary of the Invention

[0004] The purpose of this invention is to solve the problem that existing unmanned climbing robots have low obstacle-crossing stability when facing obstacles such as drainage channels and decorative lines on curtain wall surfaces due to the limitations of their own structure, which seriously affects their working efficiency and reliability. Therefore, this invention provides a swinging gait curtain wall detection robot and its obstacle-crossing method.

[0005] The technical solution of this invention is:

[0006] A swinging gait curtain wall inspection robot includes a fixed main board 1 horizontally arranged along the robot's body axis MM. A movable base plate 2 is hinged above the fixed main board 1. The movable base plate 2 and the fixed main board 1 swing relative to each other through a steering drive motor 3 fixedly embedded inside the fixed main board 1 to achieve the robot's body turning motion. Two obstacle-crossing legs 4 are fixedly installed at the front and rear ends of the fixed main board 1, and two obstacle-crossing legs 4 are rotatably connected to the left and right ends of the movable base plate 2 through two adapter blocks 5. Four suction translation feet 6 are installed at the ends of the four obstacle-crossing legs 4, and four radar probes 8 are installed on the front side of the upper part of the four suction translation feet 6. The fixed main board 1 and the two adapter blocks 5 are connected through a steering follow-up mechanism 7 to realize that the left and right obstacle-crossing legs 4 follow the robot's body turning motion, so that the left and right obstacle-crossing legs 4 are always parallel to the robot's body axis MM.

[0007] Furthermore, the steering follow-up mechanism 7 includes a central follow-up toothed pulley 701 fixedly installed at the bottom of the main board 1 of the fuselage. Two side follow-up toothed pulleys 702 are respectively provided on the left and right sides of the central follow-up toothed pulley 701. The central follow-up toothed pulley 701 and the two side follow-up toothed pulleys 702 have the same number of teeth. The two side follow-up toothed pulleys 702 are respectively fixedly installed at the bottom of the two adapter blocks 5. The central follow-up toothed pulley 701 and the two side follow-up toothed pulleys 702 are connected by a follow-up synchronous toothed belt 703 to transmit power.

[0008] Furthermore, the steering follow-up mechanism 7 also includes two tensioning pulleys 704. The two tensioning pulleys 704 are located on the side of the follow-up synchronous toothed belt 703 away from the middle follow-up toothed belt pulley 701 and are in contact with the follow-up synchronous toothed belt 703. The tensioning pulleys 704 are rotatably mounted on the main board 1 of the machine body. The middle follow-up toothed belt pulley 701 is arranged on the left and right sides of the two tensioning pulleys 704 to achieve tensioning of the follow-up 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 main board 1 and / or the adapter block 5 of the fuselage via a hip joint. The rear end of the thigh frame 401 is hinged to a lower leg frame 402 via a knee joint. The hip joint and the knee joint are connected by a lifting and lowering drive mechanism 403 to realize the lifting or lowering action of the thigh frame 401 and the lower leg frame 402.

[0010] Furthermore, the hip joint includes a first joint support 404 and a first joint pivot 405. The first joint support 404 includes a first rectangular flange, which is connected to the end of the main body fixing plate 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 shaft holes and rotatably connected to the first joint pivot 405. The first end of the thigh skeleton 401 is provided with shaft holes and is connected to the first joint pivot 405 through a flat key.

[0011] Furthermore, the knee joint includes a second joint support 406 and a second joint pivot 407. The second joint support 406 includes a second rectangular flange, which is connected to the first end of the lower leg skeleton 402. The other end of the second rectangular flange is provided with two second ear plates, which are provided with shaft holes and connected to the second joint pivot 407 via flat keys. The end of the thigh skeleton 401 is provided with shaft holes and is rotatably connected to the second joint pivot 407.

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

[0013] Furthermore, the adsorption translational foot 6 includes an adsorption cavity 601, which is a cuboid cavity with an opening at the bottom. The adsorption cavity 601 is equipped with a translational track transmission assembly. A cover plate 602 is detachably installed at the bottom opening of the adsorption cavity 601. The cover plate 602 has a track clearance notch that matches the translational track transmission assembly. A negative pressure pump 603 communicating with 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. The top of the fixing seat 604 is connected to the end of the lower leg frame 402.

[0014] Furthermore, the translational track transmission assembly includes a translational drive frame 605, which has 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 mounted on the two wing plates 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 has several evenly arranged W-shaped grooves. A translational drive motor 608 is provided between the two track wheels 606. The shaft of the translational drive motor 608 is connected to a driving translational pulley 609. A driven translational pulley 610 is mounted at the end of the shaft of one of the track wheels 606. The driven translational pulley 610 and the driving translational pulley 609 are connected by a translational timing belt 611 to transmit power.

[0015] This invention also provides an obstacle-crossing method for a swing-gait curtain wall inspection robot. The obstacle-crossing method is based on the aforementioned swing-gait curtain wall inspection robot and is implemented through the following steps:

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

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

[0018] Step Two: Overcoming the obstacles in front and to the right:

[0019] When the front adsorption and translation foot 6 reaches the obstacle, the robot's front obstacle-crossing leg 4 and adsorption and translation foot 6 are lifted first, while the adsorption and translation feet 6 on both sides and the rear are adsorbed onto the curtain wall surface and move horizontally. After the robot moves a small distance, the robot body begins to rotate. During the rotation, the left adsorption and translation foot 6 remains in an adsorbed state and moves, while the right obstacle-crossing leg 4 and adsorption and translation foot 6 are lifted. When the right adsorption and translation foot 6 has crossed the obstacle, it is adsorbed and moves again.

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

[0021] When the left adsorption and translation foot 6 reaches the obstacle, the robot body rotates again. During the rotation, the right adsorption and translation foot 6 remains in an adsorption state and moves. The left obstacle-crossing leg 4 and the adsorption and translation foot 6 are lifted. After the left adsorption and translation foot 6 crosses the obstacle, it adsorbs and moves again.

[0022] Step 4: Overcoming the obstacle behind:

[0023] When the rear adsorption and translation leg 6 reaches the obstacle, the robot's rear obstacle-crossing leg 4 and adsorption and translation leg 6 are raised, while the side and front adsorption and translation legs 6 adhere to the curtain wall surface and move horizontally, continuing to propel the robot forward. After the rear obstacle-crossing leg 4 crosses the obstacle, it is lowered, and the obstacle crossing is completed.

[0024] Compared with the prior art, the present invention has the following advantages:

[0025] 1. Strong obstacle-crossing stability: The swing-gait curtain wall inspection robot of this invention can simultaneously achieve three-legged adsorption during obstacle crossing, effectively ensuring the stability and safety of the process. Compared with other climbing robots, the robot of this invention can better cope with complex obstacle environments, reduce accidents caused by unstable adsorption, and is safer when working on high-altitude curtain walls.

[0026] 2. High mobility: The swing gait curtain wall detection robot of the present invention achieves body rotation through the steering follow-up mechanism 7, which 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. In contrast, the movement mode of some other climbing robots is relatively fixed and the mobility is poor.

[0027] 3. Wide range of applications for obstacle crossing: The swing gait curtain wall detection robot of the present invention can maintain good balance when moving without obstacles. When encountering obstacles, it can achieve efficient obstacle crossing by coordinating the four obstacle crossing legs 4 in the front, back, left and right, as well as the alternating adsorption and translation of the body rotation and the foot 6. The rotating body allows the robot to adapt to obstacles of various sizes and shapes. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of a swinging gait curtain wall inspection robot according to the present invention; Figure 2 This is an isometric drawing of a swinging gait curtain wall inspection robot according to the present invention; Figure 3 This is a top view of a swinging gait curtain wall detection robot according to the present invention; Figure 4 This is a bottom view of a swinging gait curtain wall detection robot according to the present invention; Figure 5 This is a schematic diagram of the robot body structure in the swinging gait curtain wall inspection robot of the present invention; Figure 6 This is an isometric view of the robot body in the swinging gait curtain wall inspection robot of the present invention; Figure 7 This is a top view of the robot body in the swinging gait curtain wall detection robot of the present invention; Figure 8 yes Figure 7 Sectional view at AA; Figure 9 This is a schematic diagram of the structure of the obstacle-crossing leg 4 and the adsorption and translation foot 6 assembled in the swinging gait curtain wall detection robot of the present invention; Figure 10This is an isometric view of the obstacle-crossing leg 4 and the adsorption-translation foot 6 assembled in the swinging gait curtain wall detection robot of the present invention; Figure 11 This is a schematic diagram of the obstacle-crossing leg 4 in a swinging gait curtain wall detection robot of the present invention; Figure 12 This is an isometric view of the obstacle-crossing leg 4 in a swinging gait curtain wall detection robot of the present invention; Figure 13 This is a schematic diagram of the adsorption and translation foot 6 of a swinging gait curtain wall inspection robot of the present invention, which includes a track transmission mechanism; Figure 14 This is an isometric view of the adsorption and translation foot 6 of a swinging gait curtain wall inspection robot of the present invention, which includes a track transmission mechanism. Figure 15 This is a schematic diagram of the adsorption and translation foot 6 of a swinging gait curtain wall inspection robot of the present invention, which includes two tracked transmission mechanisms. Figure 16 This is an isometric view of the adsorption and translational foot 6 of a swinging gait curtain wall inspection robot of the present invention, which includes two tracked transmission mechanisms.

[0029] In the diagram: MM represents the robot's body axis; 1 is the fixed main board; 2 is the movable base plate; 3 is the steering drive motor; 4 is the obstacle-crossing leg; 401 is the thigh skeleton; 402 is the lower leg skeleton; 403 is the lifting and lowering drive mechanism; 404 is the first joint support; 405 is the first joint pivot; 406 is the second joint support; 407 is the second joint pivot; 408 is the lifting and lowering drive motor; 409 is the active lifting and lowering toothed pulley; 410 is the driven lifting and lowering toothed pulley; 411 is the lifting and lowering synchronization toothed belt; 5 is the adapter block. ; 6 is the adsorption and translation foot; 601 is the adsorption chamber; 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 follow-up mechanism; 701 is the middle follow-up toothed pulley; 702 is the side follow-up toothed pulley; 703 is the follow-up synchronous toothed belt; 704 is the tensioner; 8 is the radar probe. Detailed Implementation

[0030] Specific implementation method one: Combining Figures 1 to 16This embodiment describes a swinging gait curtain wall detection robot. The robot includes a fixed main board 1 horizontally arranged along the robot's body axis MM. A movable base plate 2 is hinged above the fixed main board 1. The movable base plate 2 and the fixed main board 1 swing relative to each other through a steering drive motor 3 fixedly embedded inside the fixed main board 1 to achieve the robot's body steering movement. Two obstacle-crossing legs 4 are fixedly installed at the front and rear ends of the fixed main board 1, respectively. Two obstacle-crossing legs 4 are rotatably connected to the left and right ends of the movable base plate 2 through two adapter blocks 5, respectively. Four suction translation feet 6 are installed at the ends of the four obstacle-crossing legs 4, and four radar probes 8 are installed on the front side of the upper part of the four suction translation feet 6. The fixed main board 1 and the two adapter blocks 5 are connected through a steering follow-up mechanism 7 to realize that the left and right obstacle-crossing legs 4 follow the robot's body steering movement, so that the left and right obstacle-crossing legs 4 are always parallel to the robot's body axis MM.

[0031] In this embodiment, the swinging gait curtain wall detection robot is a rotatable robot body structure. By rotating the body, the robot can simultaneously achieve three-legged adsorption during obstacle crossing, ensuring the stability and safety of the robot during obstacle crossing.

[0032] This invention provides a rotating quadrupedal climbing wall inspection robot with four obstacle-crossing legs 4, distributed in the front, back, left, and right directions of the robot body. The obstacle-crossing legs 4 are raised and lowered via a lifting drive motor 408. Each obstacle-crossing leg 4 is connected to an adsorption translational foot 6, which achieves adsorption through a vacuum. An internal translational track transmission assembly within the adsorption translational foot 6 enables robot movement. Simultaneously, radar sensors 8 are installed on the four adsorption translational feet 6 to provide comprehensive environmental information, thereby achieving accurate obstacle detection and avoidance. The robot can rotate its body via a steering follower mechanism 7, adjusting the spatial position of the adsorption translational feet 6 and enabling simultaneous three-legged adsorption during obstacle crossing, improving obstacle-crossing stability and safety.

[0033] Specific Implementation Method Two: Combining Figures 1 to 16This embodiment describes a steering follower mechanism 7, which includes a central follower toothed pulley 701 fixedly mounted on the bottom of the main body mounting plate 1. Two side follower toothed pulleys 702 are respectively located on 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. The two side follower toothed pulleys 702 are respectively fixedly mounted on the bottom of two adapter blocks 5. The central follower toothed pulley 701 and the two side follower toothed pulleys 702 are connected by a follower synchronous toothed belt 703 to transmit power. With this configuration, 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 overcomes obstacles, the steering follower mechanism 7 ensures that the left and right obstacle-crossing legs 4 remain parallel to the main body mounting plate 1. Other components and connections are the same as in specific embodiment one.

[0034] In this embodiment, the steering follower mechanism 7 can employ gear and chain drives in addition to toothed pulley and synchronous toothed belt drives. The robot's fixed main board 1 and movable main board 2 rotate via a gear and chain drive mechanism. This allows the climbing robot's obstacle-crossing legs 4 and the left and right adsorption-translation feet 6 to move spatially. When one adsorption-translation foot 6 reaches an obstacle, the robot body is rotated and the obstacle-crossing leg 4 is raised, allowing that adsorption-translation foot 6 to cross the obstacle. During robot turning, one adsorption-translation foot 6 adheres, and turning is achieved by rotating the robot body and moving the other adsorption-translation foot 6.

[0035] Specific implementation method three: Combining Figures 1 to 16 In this embodiment, the steering follower mechanism 7 further includes two tensioning pulleys 704. These two tensioning pulleys 704 are located on the side of the follower synchronous toothed belt 703 away from the intermediate follower toothed pulley 701 and are in contact with the follower synchronous toothed belt 703. The tensioning pulleys 704 are rotatably mounted on the main plate 1 of the machine body. The intermediate follower toothed pulley 701 is positioned on the left and right sides of the two tensioning pulleys 704 to tension the follower synchronous toothed belt 703. With this configuration, the tensioning pulleys 704 tension the follower synchronous toothed belt 703, ensuring that the follower synchronous toothed belt 703 can tightly mesh with the intermediate follower toothed pulley 701 and the side follower toothed pulleys 702 to achieve power transmission. Other components and connections are the same as in specific embodiments one or two.

[0036] Specific implementation method four: Combination Figures 1 to 16In this embodiment, 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 main board 1 and / or the adapter block 5 of the fuselage via a hip joint. The rear end of the thigh frame 401 is hinged to a lower leg frame 402 via a knee joint. The hip joint and the knee joint are connected by a lifting and lowering drive mechanism 403 to realize the lifting or lowering action of the thigh frame 401 and the lower leg frame 402. Other components and connections are the same as in specific embodiments one, two, or three.

[0037] Specific Implementation Method Five: Combining Figures 1 to 16 This embodiment describes a hip joint comprising a first joint support 404 and a first joint pivot 405. The first joint support 404 includes a first rectangular flange connected to one end of the main mounting plate 1 and / or the adapter block 5. The other end of the first rectangular flange has two first ear plates, each with a shaft hole and rotatably connected to the first joint pivot 405. The thigh frame 401 has a shaft hole at its head and is connected to the first joint pivot 405 via a key. With this configuration, the lifting drive motor 408 drives the first joint pivot 405 to rotate, thereby causing the thigh frame 401, connected to the first joint pivot 405 via a key, to swing up and down. Other components and connections are the same as in specific embodiments one, two, three, or four.

[0038] Specific Implementation Method Six: Combination Figures 1 to 16 This embodiment describes a knee joint comprising a second joint support 406 and a second joint pivot 407. The second joint support 406 includes a second rectangular flange connected to the first end of the lower leg frame 402. The other end of the second rectangular flange has two second ear plates, each with a shaft hole and connected to the second joint pivot 407 via a key. The end of the thigh frame 401 has a shaft hole and is rotatably connected to the second joint pivot 407. With this configuration, the lifting drive motor 408 drives the second joint pivot 407 to rotate via the lifting drive mechanism 403, which in turn causes the second joint support 406, connected to the second joint pivot 407 via a key, to swing up and down, thereby causing the lower leg frame 402 connected to the second joint support 406 to swing up and down accordingly. Other components and connections are the same as in specific embodiments one, two, three, four, or five.

[0039] Specific implementation method seven: Combining Figures 1 to 16This embodiment describes a lifting and lowering drive mechanism 403, which includes a lifting and lowering drive motor 408. The shaft of the lifting and lowering drive motor 408 is connected to one end of a first joint shaft 405. The housing of the lifting and lowering drive motor 408 is mounted on the thigh frame 401. An active lifting and lowering toothed pulley 409 is mounted on the first joint shaft 405 and connected via a key. A driven lifting and lowering toothed pulley 410 is mounted on the second joint shaft 407 and connected via a key. The driven lifting and lowering toothed pulley 410 and the active lifting and lowering toothed pulley 409 are connected by a lifting and lowering synchronous toothed belt 411 to transmit power. This configuration uses a single motor drive instead of the existing dual-motor drive. The motor, toothed pulley, and synchronous toothed belt work together to accurately transmit power, reducing energy loss and improving power transmission efficiency, while also enhancing the stability of the curtain wall robot during obstacle crossing. In addition, the transmission mechanism of the motor, toothed pulley, and synchronous toothed belt is more compact and simpler than that of dual-motor drive, which can effectively reduce the weight of the equipment. The lighter robot body has better stability when working at heights, and single-motor drive also reduces the production and maintenance costs of the product. Other components and connections are the same as in specific implementation methods one, two, three, four, five, or six.

[0040] Specific implementation method eight: Combination Figures 1 to 16 This embodiment describes the adsorption-translating foot 6, which includes an adsorption cavity 601. The adsorption cavity 601 is a rectangular cavity with an opening at the bottom. A translational track drive assembly is installed 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 has a track clearance notch that matches the translational track drive assembly. A negative pressure pump 603, communicating with the inner cavity of the adsorption cavity 601, is located 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 lower leg frame 402. With this configuration, the adsorption-translating foot 6 achieves the curtain wall adsorption function through the adsorption cavity 601 and the negative pressure pump 603; the adsorption-translating foot 6 achieves translational movement through the translational track drive assembly. Other components and connections are the same as in specific embodiments one, two, three, four, five, six, or seven.

[0041] Specific Implementation Method Nine: Combining Figures 1 to 16This embodiment describes a translational track transmission assembly comprising a translational drive frame 605, which has 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 mounted on the two wing plates 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 has several evenly arranged W-shaped grooves. A translational drive motor 608 is provided between the two track wheels 606. The shaft of the translational drive motor 608 is connected to a driving translational pulley 609. A driven translational pulley 610 is mounted at the end of the shaft of one of the track wheels 606. The driven translational pulley 610 and the driving translational pulley 609 are connected by a translational timing belt 611 to transmit power. With this configuration, the translation drive motor 608 sequentially transmits power to the active translation pulley 609, the translation timing belt 611, and the driven translation pulley 610, and then to the track wheel 606 and the rubber track 607, realizing the translation operation of the adsorbed translation foot 6. Other components and connections are the same as in specific embodiments one, two, three, four, five, six, seven, or eight.

[0042] Specific Implementation Method Ten: Combining Figures 1 to 16 This embodiment describes an obstacle-crossing method for a swing-gait curtain wall inspection robot. The method is implemented through the following steps:

[0043] Step 1: Barrier-free movement process:

[0044] During the robot's obstacle-free movement, the robot body is in the initial position, with the obstacle-crossing legs 4 and the suction and translation feet 6 symmetrically distributed on the left and right sides to ensure the balance of movement.

[0045] Step Two: Overcoming the obstacles in front and to the right:

[0046] When the front adsorption and translation foot 6 reaches the obstacle, the robot's front obstacle-crossing leg 4 and adsorption and translation foot 6 are lifted first, while the adsorption and translation feet 6 on both sides and the rear are adsorbed onto the curtain wall surface and move horizontally. After the robot moves a small distance, the robot body begins to rotate. During the rotation, the left adsorption and translation foot 6 remains in an adsorbed state and moves, while the right obstacle-crossing leg 4 and adsorption and translation foot 6 are lifted. When the right adsorption and translation foot 6 has crossed the obstacle, it is adsorbed and moves again.

[0047] Step 3: Overcoming the obstacle on the left:

[0048] When the left adsorption and translation foot 6 reaches the obstacle, the robot body rotates again. During the rotation, the right adsorption and translation foot 6 remains in an adsorption state and moves. The left obstacle-crossing leg 4 and the adsorption and translation foot 6 are lifted. After the left adsorption and translation foot 6 crosses the obstacle, it adsorbs and moves again.

[0049] Step 4: Overcoming the obstacle behind:

[0050] When the rear adsorption-translation leg 6 reaches the obstacle, the robot's rear obstacle-crossing leg 4 and the adsorption-translation leg 6 lift up, while the side and front adsorption-translation legs 6 adhere to the curtain wall surface and translate, continuing to propel the robot forward. After the rear obstacle-crossing leg 4 crosses the obstacle, it lowers down, completing the obstacle crossing. Other components and connections are the same as in embodiments one, two, three, four, five, six, seven, eight, or nine.

[0051] In this embodiment, rotating the robot body makes the robot's turning movements more flexible. When the left side adsorbs and translates the foot 6, the robot body rotates, and when the right side adsorbs and translates the foot 6, it can turn left; when the right side adsorbs and translates the foot 6, the robot body rotates, and when the left side adsorbs and translates the foot 6, it can turn right.

[0052] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A swinging gait curtain wall inspection robot, characterized in that: The robot includes a fixed main board (1) arranged horizontally along the robot body axis (MM). A movable base plate (2) is hinged above the fixed main board (1). The movable base plate (2) and the fixed main board (1) swing relative to each other through a steering drive motor (3) fixedly embedded inside the fixed main board (1) to achieve robot body steering. Two obstacle-crossing legs (4) are fixedly installed at the front and rear ends of the fixed main board (1). Two obstacle-crossing legs (4) are rotatably connected to the left and right ends of the movable base plate (2) through two adapter blocks (5). Four suction translation feet (6) are installed at the ends of the four obstacle-crossing legs (4). Four radar probes (8) are installed on the front side of the upper part of the four suction translation feet (6). The fixed main board (1) and the two adapter blocks (5) The two obstacle-crossing legs (4) are connected by a steering follower mechanism (7) to achieve the following motion of the two obstacle-crossing legs (4) with the robot body, so that the two obstacle-crossing legs (4) are always parallel to the robot body axis (MM); the steering follower mechanism (7) includes a middle follower toothed pulley (701) fixedly installed at the bottom of the fixed main board (1) of the robot body. The middle follower toothed pulley (701) is provided with two side follower toothed pulleys (702) on the left and right sides respectively. The middle follower toothed pulley (701) and the two side follower toothed pulleys (702) have the same number of teeth. The two side follower toothed pulleys (702) are fixedly installed at the bottom of the two adapter blocks (5) respectively. The middle follower toothed pulley (701) and the two side follower toothed pulleys (702) are connected by a follower synchronous toothed belt (703) to transmit power.

2. The swinging gait curtain wall inspection robot according to claim 1, characterized in that: The steering follow-up mechanism (7) also includes two tensioning pulleys (704). The two tensioning pulleys (704) are located on the side of the follow-up synchronous toothed belt (703) away from the middle follow-up toothed belt pulley (701) and are in contact with the follow-up synchronous toothed belt (703). The tensioning pulley (704) shaft is rotatably mounted on the machine body fixed main plate (1). The middle follow-up toothed belt pulley (701) is set on the left and right sides of the two tensioning pulleys (704) to realize the tensioning of the follow-up synchronous toothed belt (703).

3. A swinging gait curtain wall inspection robot according to claim 1 or 2, characterized in that: Each obstacle-crossing leg (4) includes a thigh frame (401), the front end of which is hinged to the end of the main board (1) of the fuselage via a hip joint, the front end of which is hinged to a transition block (5) via a hip joint, and the rear end of which is hinged to a lower leg frame (402) via a knee joint. The hip joint and the knee joint are connected by a lifting and lowering drive mechanism (403) to realize the lifting or lowering action of the thigh frame (401) and the lower leg frame (402).

4. The swinging gait curtain wall inspection robot according to claim 3, characterized in that: The hip joint includes a first joint support (404) and a first joint pivot (405). The first joint support (404) includes a first rectangular flange. The first rectangular flange is connected to the end of the main body fixing plate (1). The first rectangular flange is connected to 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 shaft holes and are rotatably connected to the first joint pivot (405). The first end of the thigh skeleton (401) is provided with shaft holes and is connected to the first joint pivot (405) through a flat key.

5. The swinging gait curtain wall inspection robot according to claim 4, characterized in that: The knee joint includes a second joint support (406) and a second joint pivot (407). The second joint support (406) includes a second rectangular flange, which is connected to the first end of the lower leg skeleton (402). The other end of the second rectangular flange is provided with two second ear plates, which are provided with shaft holes and connected to the second joint pivot (407) through a flat key. The end of the thigh skeleton (401) is provided with shaft holes and is rotatably connected to the second joint pivot (407).

6. The swinging gait curtain wall inspection robot according to claim 5, characterized in that: The lifting and lowering drive mechanism (403) includes a lifting and lowering drive motor (408). The shaft of the lifting and lowering drive motor (408) is connected to one end of the first joint shaft (405). The housing of the lifting and lowering drive motor (408) is mounted on the thigh frame (401). An active lifting and lowering toothed pulley (409) is mounted on the first joint shaft (405) and connected by a flat key. A driven lifting and lowering toothed pulley (410) is mounted on the second joint shaft (407) and connected by a flat key. The driven lifting and lowering toothed pulley (410) and the active lifting and lowering toothed pulley (409) are connected by a lifting and lowering synchronous toothed belt (411) to transmit power.

7. A swinging gait curtain wall inspection robot according to claim 4, 5 or 6, characterized in that: The adsorption translational foot (6) includes an adsorption cavity (601), which is a cuboid cavity with an opening at the bottom. The adsorption cavity (601) is equipped with a translational track drive assembly. A cover plate (602) is detachably installed at the bottom opening of the adsorption cavity (601). The cover plate (602) has a track clearance notch that matches the translational track drive assembly. A negative pressure pump (603) is provided at the top of the adsorption cavity (601) and communicates with 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 lower leg skeleton (402).

8. The swinging gait curtain wall inspection robot according to claim 7, characterized in that: The translational track drive assembly includes a translational drive frame (605), which is a U-shaped frame structure. At least one track drive mechanism is provided between the two wing plates of the translational drive frame (605). The track drive mechanism includes two track wheels (606) installed on the two wing plates 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 several uniformly arranged W-shaped grooves. A translational drive motor (608) is provided between the two track wheels (606). The shaft of the translational drive motor (608) is connected to the active translational pulley (609). A driven translational pulley (610) is installed at the end of the shaft of one of the track wheels (606). The driven translational pulley (610) and the active translational pulley (609) are connected by a translational synchronous belt (611) to transmit power.

9. A method for obstacle crossing of a swinging gait curtain wall detection robot, characterized in that: The obstacle-crossing method is based on the swing gait curtain wall detection robot described in claim 8, and is implemented through the following steps: Step 1: Barrier-free movement process: During the robot's barrier-free movement, 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. Step Two: Overcoming the obstacles in front and to the right: When the front adsorption translation foot (6) reaches the obstacle, the robot's front obstacle-crossing leg (4) and adsorption translation foot (6) lift up first, and the adsorption translation feet (6) on both sides and the rear adhere to the curtain wall surface and move horizontally; after the robot moves a small distance, the robot body begins to rotate. During the rotation, the left adsorption translation foot (6) always maintains the adsorption state and moves, while the right obstacle-crossing leg (4) and adsorption translation foot (6) lift up. When the right adsorption translation foot (6) has crossed the obstacle, it adheres and moves again. Step 3: Overcoming the obstacle on the left: When the left adsorption translation foot (6) travels to the obstacle, the robot body rotates again. During the rotation, the right adsorption translation foot (6) remains in an adsorption state and moves. The left obstacle-crossing leg (4) and the adsorption translation foot (6) are lifted. When the left adsorption translation foot (6) crosses the obstacle, it adsorbs and moves again. Step 4: Overcoming the obstacle behind: When the rear adsorption translational foot (6) reaches the obstacle, the robot's rear obstacle-crossing leg (4) and adsorption translational foot (6) are raised, and the adsorption translational feet (6) on both sides and the front are adsorbed onto the curtain wall surface and move horizontally, continuing to propel the robot forward. After the rear obstacle-crossing leg (4) crosses the obstacle, it is lowered, and the obstacle crossing is completed.

Images