Wall surface working device with obstacle surmounting function

Abstract

The application provides a wall working device with obstacle crossing function, which comprises a device body and a plurality of obstacle crossing assemblies, each of which comprises a strip-shaped stroke member and an obstacle crossing execution component, the obstacle crossing execution component comprises a fixing part and a driving assembly, the driving assembly is connected between the strip-shaped stroke member and the fixing part, and is used for controlling the fixing part to approach or move away from the wall; a connecting assembly is used for connecting the obstacle crossing assembly and the device body, the connecting assembly enables the device body to move relative to the corresponding obstacle crossing assembly at least in the length direction of the strip-shaped stroke member; a control mechanism is used for controlling the corresponding obstacle crossing assembly and the connecting assembly to alternately act, so as to realize the obstacle crossing operation; and a working mechanism is connected to the device body, and is used for contact working with the wall in a detachable mode or working at a predetermined distance from the wall. The application takes into account the safety of high-altitude working and the efficiency of wall working, and is convenient for subsequent working path planning and intelligent working of the working mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wall-climbing robots, and particularly relates to a wall working device with obstacle crossing function. BACKGROUND

[0002] With the increasing number of high-rise buildings, the cleaning, detection and maintenance of walls (such as glass outer walls and stone outer walls) are increasingly urgent. Wall obstacle crossing devices can replace manual work in high-altitude environments, effectively avoid high-altitude falling risks, and improve the safety and efficiency of work.

[0003] However, the existing wall working devices, especially large-size and heavy wall working devices, have insufficient obstacle crossing ability on the wall. Some devices use a whole moving mode, which is prone to jamming or even unable to move once encountering an obstacle. Some other devices have complex obstacle crossing structures, are cumbersome to operate, and have poor adaptability to obstacles, making it difficult to realize obstacle crossing operation of large-size and heavy wall working devices. The direction, angle or position of the complex obstacle crossing assembly after completing obstacle crossing is unpredictable, which is prone to interfere with the working mechanism or randomly block part of the working area, thereby constituting an obstacle for intelligent work of the working mechanism and subsequent path planning. SUMMARY

[0004] In view of the deficiencies of the prior art, one of the purposes of the present application is to provide a wall working device with obstacle crossing function. The device can be oriented to cross obstacles along a linear path, and can be matched with a working mechanism to perform work operation, thereby improving work efficiency and reliability.

[0005] The technical solution of the present application is as follows:

[0006] A wall working device with obstacle crossing function comprises a device body and further comprises:

[0007] A plurality of obstacle crossing assemblies are connected to the device body, each obstacle crossing assembly comprising a strip-shaped travel member and further comprising an obstacle crossing execution component provided on the strip-shaped travel member. The obstacle crossing execution component comprises a fixed part and a driving assembly. The driving assembly is connected between the strip-shaped travel member and the fixed part, and is used at least to control the fixed part to approach or move away from the wall. The fixed part is used to be fixedly connected to the wall in a detachable manner.

[0008] A connecting assembly is used to connect the obstacle crossing assembly and the device body. The connecting assembly enables the device body to move relative to the corresponding obstacle crossing assembly at least in the length direction of the strip-shaped travel member.

[0009] A control mechanism is used at least to control the corresponding obstacle crossing assembly and the connecting assembly to act alternately, thereby realizing obstacle crossing operation.

[0010] The working mechanism is connected to the device body and is used for working in contact with the wall surface or working at a predetermined distance from the wall surface.

[0011] Preferably, the working mechanism comprises a multi-axis mechanical arm connected to the device body and a working execution component connected to a free end of the multi-axis mechanical arm.

[0012] Preferably, the obstacle-crossing assembly is connected to a side of the device body facing the wall surface, and the working mechanism is connected to a side of the device body facing away from the wall surface.

[0013] Preferably, the obstacle-crossing execution component of each obstacle-crossing assembly comprises two obstacle-crossing execution components arranged at two ends of the strip-shaped stroke member.

[0014] Preferably, the driving assembly comprises a folding assembly and a driving member, and the fixed part is a suction accessory.

[0015] One end of the folding assembly is arranged on the strip-shaped stroke member, and the other end of the folding assembly is arranged on the suction accessory.

[0016] The driving member is arranged on the strip-shaped stroke member and is configured to drive the folding assembly to perform an unfolding action or a folding action.

[0017] When the folding assembly performs the unfolding action, the suction accessory is away from the strip-shaped stroke member, and when the folding assembly performs the folding action, the suction accessory is close to the strip-shaped stroke member.

[0018] Preferably, the folding assembly comprises two folding arms arranged oppositely and moving synchronously, inner joint ends of the two folding arms are hinged to the strip-shaped stroke member, outer joint ends of the two folding arms are hinged to the suction accessory, and the driving member is used for driving the inner joint ends of the two folding arms.

[0019] Preferably, the obstacle-crossing assembly comprises a first obstacle-crossing assembly and a second obstacle-crossing assembly, the connecting assembly comprises a first connecting assembly for connecting the first obstacle-crossing assembly and the device body, and a second connecting assembly for connecting the second obstacle-crossing assembly and the device body.

[0020] Preferably, the device body is in the shape of a beam, and the wall surface working device with the obstacle-crossing function further comprises a traction mechanism comprising guide devices arranged on both sides of the beam-shaped device body, the traction mechanism is used for driving the device body to translate relative to the wall surface in a direction parallel to the wall surface, and the direction of translation is parallel to the length direction of the strip-shaped stroke member of the first obstacle-crossing assembly.

[0021] Preferably, the connecting assembly comprises a movable seat arranged on the device body, the movable seat is in slide connection with the strip-shaped stroke member and can be locked with the strip-shaped stroke member, the strip-shaped stroke member is provided with parallel arranged guide grooves and longitudinal racks in the length direction, the movable seat is further provided with a first motor seat, a first gear and a first slide member, the first motor seat is used to drive the first gear which is engaged with the longitudinal racks, and the first slide member is embedded in the guide grooves and can slide relative to the guide grooves.

[0022] Preferably, the movable seat comprises a placement surface arranged relative to the wall surface, the first motor seat is formed on the placement surface, the first gear is arranged close to the placement surface, and the placement surface is further provided with a first support, the first support is arranged on one side of the guide grooves and is used to fix the first slide member.

[0023] Preferably, the device body in the length direction is provided with a slide rail, and the movable seat is further provided with a slide block in the direction opposite to the placement surface, the position of the slide block corresponds to the position of the slide rail.

[0024] Preferably, the device body in the length direction is provided with a transverse rack which is parallel to the slide rail, and the placement surface of the movable seat of the first connecting assembly is further provided with a second motor seat and a second gear, the second motor seat is used to drive the second gear which is engaged with the transverse rack.

[0025] Preferably, the second connecting assembly further comprises an adaptive reset assembly, the adaptive reset assembly comprises a bearing seat arranged on the device body, and further comprises a reset device connected to the bearing seat, the reset device is fixedly connected with the bearing seat, comprises a transverse shell for accommodating an elastic member, and further comprises a ejecting member which is movably connected with the transverse shell and is driven by the elastic member, the ejecting member is abutted on the side surface of the strip-shaped stroke member of the second obstacle crossing assembly, or the ejecting member is abutted on the side surface of the movable seat of the second obstacle crossing assembly.

[0026] Preferably, the bearing seat comprises a base which is in slide connection with the device body, and further comprises a connecting seat which is fixedly connected with the transverse shell, the bottom of the movable seat of the second connecting assembly is provided with a shaft which is sleeved in the bearing of the bearing seat, so that the movable seat of the second connecting assembly can rotate relative to the bearing seat and the device body, the ejecting member comprises a ejecting rod which is driven by the elastic member, and a connecting rod which is arranged on the end of the ejecting rod and corresponds to the shape of the side surface of the strip-shaped stroke member or the movable seat of the second obstacle crossing assembly.

[0027] Preferably, the device body in the length direction is provided with a slide rail, and the connecting seat in the direction opposite to the device body is further provided with a slide block, the position of the slide block corresponds to the position of the slide rail.

[0028] Compared with the prior art, the embodiment of the present application has the following advantages:

[0029] The several obstacle-surmounting assemblies of the embodiment of the present application can be alternately fixedly connected with the wall surface, cooperate with the connecting assemblies to make the device body move relative to the obstacle-surmounting assemblies not fixedly connected, and then through the accurate control of the control mechanism, make the obstacle-surmounting assemblies and the connecting assemblies move alternately, thus solving the defects of the prior art, such as poor obstacle-surmounting capability, easy to be stuck, and complex obstacle-surmounting structure and tedious operation. When the linear structure of the strip-shaped travel piece makes the device body move relative to the length direction, it not only provides a regular guide path to ensure the movement to be accurate, controllable, smooth and without deviation, but also disperses the load by virtue of good rigidity and anti-deformation capability, so that it can be compatible with a device body of large weight and large volume to avoid structural deformation and obstacle-surmounting failure. In cooperation with the alternate control of the control mechanism on the obstacle-surmounting assemblies and the connecting assemblies, the device can move along the linear path to surmount the obstacles, realize the action coordination, improve the obstacle-surmounting efficiency and reliability, and be suitable for high-rise building wall surface operation, taking into account the high-altitude operation safety and wall surface operation efficiency. Meanwhile, the embodiment sets several obstacle-surmounting assemblies including the strip-shaped travel piece, and in cooperation with the connecting assemblies, the device body can move along the length direction of the strip-shaped travel piece to surmount the obstacles. The direction, angle and position of the obstacle-surmounting assemblies after completing the obstacle-surmounting are highly standardized, which can avoid the operation area or realize regular movement under the premise of being unable to avoid shielding the operation area, thus being convenient for subsequent operation path planning and intelligent operation of the operation mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative labor under the premise of the drawings.

[0031] Figure 1 It is a perspective view of the wall surface operation device with obstacle-surmounting function of the embodiment of the present application;

[0032] Figure 2 It is a perspective view of the wall surface operation device with obstacle-surmounting function of the embodiment of the present application; Figure 1 It is a perspective view from another angle, in which the operation mechanism is hidden;

[0033] Figure 3 It is a perspective view of the wall surface operation device with obstacle-surmounting function of the embodiment of the present application; Figure 2 It is a partial enlarged view of A in FIG. 4;

[0034] Figure 4 It is a perspective view of the wall surface operation device with obstacle-surmounting function of the embodiment of the present application; Figure 2 It is a partial enlarged view of B in FIG. 4;

[0035] Figure 5 It is a perspective view of the strip-shaped travel piece and the second connecting assembly of the embodiment of the present application;

[0036] Figure 6 It is a perspective view of the strip-shaped travel piece and the second connecting assembly of the embodiment of the present application; Figure 5Another perspective view;

[0037] Figure 7 is an exploded view of Figure 5

[0038] Figure 8 is a perspective view with hidden strip travel member and partial parts, showing shaft body; Figure 5

[0039] Figure 9 is a perspective view of the obstacle crossing execution component of the embodiment of the application. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0041] In the description of the application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the application. In addition, the terms "first", "second", "third", "fourth" and the like are only for the purpose of description and cannot be understood as indicating or implying relative importance.

[0042] In the description of the application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0043] Please see Figures 1 to 9 , a wall working device with obstacle crossing function, comprising a device body 3, further comprising:

[0044] ​​A plurality of barrier-crossing assemblies 1 are connected to the device body 3, each barrier-crossing assembly 1 comprising a strip-shaped stroke member 11, and further comprising a barrier-crossing execution component 12 arranged on the strip-shaped stroke member 11, the barrier-crossing execution component 12 comprising a fixed part 121 and a driving assembly 122 connected between the strip-shaped stroke member 11 and the fixed part 121, the driving assembly 122 being used at least for controlling the fixed part 121 to approach or move away from the wall surface, the fixed part 121 being used for detachable fixed connection with the wall surface;

[0045] A connecting assembly is used for connecting the barrier-crossing assembly 1 and the device body 3, the connecting assembly enabling the device body 3 to move relative to the corresponding barrier-crossing assembly 1 at least in the length direction of the strip-shaped stroke member 11;

[0046] A control mechanism is used at least for controlling the alternate actions of the corresponding barrier-crossing assembly 1 and the connecting assembly, so as to realize barrier-crossing operation;

[0047] A working mechanism 7 is connected to the device body 3, and is used for detachable contact work with the wall surface, or work at a predetermined distance from the wall surface.

[0048] As a specific solution rather than a limitation, the barrier-crossing assembly comprises a first barrier-crossing assembly 1a and a second barrier-crossing assembly 1b, and the control mechanism of the embodiment controls the steps of barrier-crossing as follows:

[0049] The driving assembly of the first barrier-crossing assembly 1a is controlled to expand, so that the fixed part of the first barrier-crossing assembly 1a approaches and is fixedly connected with the wall surface;

[0050] The driving assembly of the second barrier-crossing assembly 1b is controlled to retract, so that the fixed part of the second barrier-crossing assembly 1b moves away from the wall surface, and the distance between the fixed part of the second barrier-crossing assembly 1b and the wall surface is greater than the height of the wall surface barrier;

[0051] The connecting assembly between the second barrier-crossing assembly 1b and the device body 3 is controlled to be locked, and at the same time, the device body 3 is controlled to move relative to the first barrier-crossing assembly 1a in the length direction of the strip-shaped stroke member 11 of the first barrier-crossing assembly 1a;

[0052] When the second barrier-crossing assembly 1b at least partially crosses the height of the wall surface barrier, the driving assembly of the second barrier-crossing assembly 1b is controlled to expand, so that the fixed part of the second barrier-crossing assembly 1b approaches and is fixedly connected with the wall surface;

[0053] The driving assembly of the first barrier-crossing assembly 1a is controlled to retract, so that the fixed part of the first barrier-crossing assembly 1a moves away from the wall surface, and the distance between the fixed part of the first barrier-crossing assembly 1a and the wall surface is greater than the height of the wall surface barrier;

[0054] Controlling the connection assembly between the first obstacle crossing component 1a and the device body 3 to be locked, and controlling the device body 3 to move relative to the second obstacle crossing component 1b in the length direction of the strip-shaped stroke piece 11 of the second obstacle crossing component 1b;

[0055] When the first obstacle crossing component 1a at least partially crosses the wall surface obstacle height, the above steps are repeatedly executed.

[0056] The above obstacle crossing method can efficiently solve the problems of poor obstacle crossing ability, easy jamming and complex structure of existing devices, and ensure precise and continuous obstacle crossing action, safety and reliability in high-altitude wall surface operation, and balance operation efficiency and stability.

[0057] As a preferred scheme but not limited, the operation mechanism 7 of the embodiment includes a multi-axis mechanical arm 71 connected to the device body 3 and an operation execution component 72 connected to the free end of the multi-axis mechanical arm 71. Specifically, taking the cleaning device as an example of the operation structure of the embodiment, the multi-axis mechanical arm 71 can be a seven-axis mechanical arm to realize wall surface cleaning / wiping operation in a large range, multiple angles and full coverage.

[0058] Preferably, the obstacle crossing component is connected to the side of the device body 3 facing the wall surface, and the operation mechanism 7 is connected to the side of the device body 3 away from the wall surface. By arranging the obstacle crossing component and the operation mechanism 7 on the two sides of the device body 3 respectively, the embodiment can further avoid the interference of the operation mechanism 7 with the obstacle crossing component during operation, and improve the operation efficiency and reliability.

[0059] Preferably, the number of obstacle crossing execution components 12 of each obstacle crossing component is two, and the obstacle crossing execution components 12 are arranged at both ends of the strip-shaped stroke piece 11. The obstacle crossing execution components 12 arranged at both ends of the strip-shaped stroke piece 11 can effectively disperse the load, and through the joint action of the obstacle crossing execution components 12 of multiple strip-shaped stroke pieces 11, the adhesion of the wall surface operation device to the wall surface during obstacle crossing and operation can be guaranteed, and the operation efficiency and reliability are further improved.

[0060] As a specific scheme but not limited, the obstacle crossing component includes a first obstacle crossing component 1a and a second obstacle crossing component 1b, and the connection assembly includes a first connection assembly for connecting the first obstacle crossing component 1a and the device body 3, and a second connection assembly for connecting the second obstacle crossing component 1b and the device body 3. During obstacle crossing, the control mechanism controls the state of the first obstacle crossing component 1a and the first connection assembly, and the second obstacle crossing component 1b and the second connection assembly alternately, to realize the translation of the device body 3 under the condition that part of the obstacle crossing component is fixed relative to the wall surface.

[0061] Preferably, the number of the first obstacle-crossing assemblies 1a is even, the strip stroke members 11 of all the first obstacle-crossing assemblies 1a are arranged in parallel, and all the first obstacle-crossing assemblies 1a are symmetrically arranged on the device body 3. By arranging the strip stroke members 11 of all the first obstacle-crossing assemblies 1a in parallel and symmetrically arranging all the first obstacle-crossing assemblies 1a on the device body 3, the center of gravity of the wall working device with the obstacle-crossing function is effectively balanced, and the smoothness of the translation of the obstacle-crossing device is ensured.

[0062] Preferably, the connecting assembly comprises a movable seat 2 arranged on the device body 3, and the movable seat 2 is in a lockable sliding connection with the strip stroke member 11. The lockable sliding connection between the movable seat 2 and the strip stroke member 11 can form a rigid connection by locking when crossing obstacles, thereby ensuring the accurate movement of the device body 3 along the linear path of the strip stroke member 11, and after the locking is released, the device body 3 can be flexibly switched to a new path to realize seamless connection of the obstacle-crossing assemblies in alternate bearing. On the other hand, in the high-altitude scene, the device body 3 can be locked to avoid accidental sliding, thereby dispersing the weight load and reducing the safety hazard.

[0063] As a specific solution rather than a limitation, taking the working structure of the embodiment as a cleaning device as an example, the device body 3 is configured as a beam shape, which can be used to store cleaning liquid or wastewater, and the structural strength of the device body 3 is increased by arranging a reinforcing member in the beam-shaped device body 3. Based on the above changes, when the wall working device with the obstacle-crossing function based on a larger weight is applied to a wall working device with the obstacle-crossing function based on a larger weight, the wall working device with the obstacle-crossing function can further comprise a traction mechanism 8, the traction mechanism 8 comprises guide devices arranged on both sides of the beam-shaped device body 3, and the traction mechanism 8 is used to drive the device body 3 to translate relative to the wall in a direction parallel to the wall, and the translation direction is parallel to the length direction of the strip stroke member 11 of the first obstacle-crossing assembly 1a. By arranging the guide devices on both sides of the device body 3, the device body 3 can be stably driven to translate in a direction parallel to the wall, thereby assisting the device to work efficiently. At the same time, the translation direction is parallel to the length direction of the strip stroke member 11 of the first obstacle-crossing assembly 1a, which can make the obstacle-crossing action and the translation action cooperate with each other, reduce the motion interference, and significantly improve the continuity and overall efficiency of the device obstacle-crossing and translation.

[0064] As a preferred embodiment but not limited, the strip-shaped stroke member 11 is formed with parallel guide grooves 111 and longitudinal gear racks 112 in the length direction, the first motor seat 4, the first gear 5 and the first sliding member 6 are further arranged on the movable seat, the first motor seat 4 is used to drive the first gear 5 engaged with the longitudinal gear racks 112, and the first sliding member 6 is embedded in the guide grooves 111 and can slide relative to the guide grooves 111. In this embodiment, the first sliding member 6 is embedded in the guide grooves 111 and can slide relative to the guide grooves 111, and cooperates with the driving structure of the gear and rack to accurately limit the movement track of the component, prevent deviation, reduce the friction resistance when the component moves, make the overall movement more stable and smooth, and effectively improve the reliability and stability of the assembly operation. Preferably, the first sliding member 6 of this embodiment can be a pulley set, which has the advantages of light weight and smooth sliding relative to the sliding block, further improves the reliability and stability of the assembly operation under the premise of reducing the wall working device with obstacle crossing function.

[0065] Preferably, the movable seat 2 includes a placement surface 21 arranged relative to the wall, the first motor seat 4 is formed on the placement surface 21, and the first gear 5 is arranged close to the placement surface 21, the placement surface 21 of the movable seat 2 is further formed with a first support 22, and the first support 22 is used to fix the first sliding member 6 relative to one side of the guide grooves 111. The first gear 5 and the first sliding member 6 of this embodiment can be located on the same side of the strip-shaped stroke member 11, and the first sliding member 6 is arranged closer to the wall relative to the first gear 5, which guarantees the compactness of the structure and the dynamic structural strength, and further improves the reliability and stability of the assembly operation.

[0066] Preferably, the beam-shaped device body 3 is formed with transverse gear racks 32 parallel to the slide rails 31 in the length direction, the placement surface 21 of the movable seat 2 of the first connecting assembly is further provided with a second motor seat 24 and a second gear 25, and the second motor seat 24 is used to drive the second gear 25 engaged with the transverse gear racks 32. The engagement transmission of the second gear 25 and the transverse gear racks 32 can provide accurate and reliable driving force for the relative movement of the device body 3 and the movable seat 2, avoid power loss, and at the same time, cooperate with the parallel slide rails 31 and the slide block 23 structure to ensure the stability and accuracy of the beam-shaped device body moving relative to the movable seat 2 when carrying a large weight.

[0067] Preferably, the number of the second obstacle crossing assemblies 1b is even, and all the second obstacle crossing assemblies 1b are symmetrically arranged on the device body 3. Specifically, as shown in Figure 1As shown, the first obstacle crossing assembly 1a and the second obstacle crossing assembly 1b of the embodiment are both two in number, and the first obstacle crossing assembly 1a is located outside the second obstacle crossing assembly 1b. The obstacle crossing execution component 12 of each of the first obstacle crossing assembly 1a and the second obstacle crossing assembly 1b is two in number, and is arranged at both ends of the strip-shaped stroke member 11. The strip-shaped stroke member 11 of the embodiment is a sliding straight rod.

[0068] Further, in an improved embodiment, the second connecting assembly further comprises an adaptive reset assembly 9, which comprises a bearing seat 91 arranged on the device body 3, and further comprises a reset device 92 connected to the bearing seat 91. The reset device 92 is fixedly connected with the bearing seat 91, comprises a transverse shell 921 for accommodating an elastic member, and further comprises an ejector 922 movably connected with the transverse shell 921 and driven by the elastic member. The ejector 922 is abutted against the side surface of the strip-shaped stroke member 11 of the second obstacle crossing assembly 1b, or the ejector 922 is abutted against the side surface of the movable seat 2 of the second obstacle crossing assembly 1b.

[0069] Specifically, the bearing seat 91 comprises a base 911 slidably connected with the device body 3, and further comprises a connecting seat 912 fixedly connected with the transverse shell 921. The bottom of the movable seat 2 of the second connecting assembly is formed with a shaft body 26 sleeved in the bearing of the bearing seat 91, so that the movable seat 2 of the second connecting assembly can rotate relative to the bearing seat 91 and the device body 3.

[0070] Preferably, the beam-shaped device body 3 is formed with a sliding rail 31 in the length direction, and the connecting seat 912 is further formed with a sliding block 23 in the direction opposite to the device body. The position of the sliding block 23 corresponds to the position of the sliding rail. The corresponding matching structure of the sliding block 23 and the sliding rail 31 can make the connection between the movable seat 2 and the device body 3 more closely and flexibly, which can not only ensure the structural stability of the two when relatively moving, but also can disperse the load (such as the weight of the obstacle crossing assembly and the external force during operation) transmitted by the movable seat 2, avoid damage caused by excessive force on the local structure, and reduce the frictional resistance during relative movement, reduce the wear of the parts, and protect the service life of the wall working device with the obstacle crossing function of the embodiment.

[0071] When the device body 3 slightly swings, the movable seat 2 of the second connecting assembly on the device body 3 will rotate relative to the bearing seat 91. During the relative rotation, the elastic member is elastically deformed, and the kinetic energy of rotation is converted into the elastic potential energy of the elastic member. When the influencing factors causing the slight swing of the device body 3 are eliminated, the elastic potential energy of the elastic member is released to drive the bearing seat 91 and the movable seat 2 of the second connecting assembly to rotate in the opposite direction, so as to achieve the purpose of resetting the device body 3 and the second obstacle crossing assembly 1b to the normal assembly state.

[0072] Through the above structure, the device body 3 and the second obstacle crossing assembly 1b have a mutual rotation degree of freedom, and the bearing seat 91 is slidingly arranged on the device body 3, so that the device body 3 and the second obstacle crossing assembly 1b have a relative rotation degree of freedom and a horizontal movement degree of freedom along the device body 3. Therefore, when the machine body slightly swings due to cleaning / maintenance operation or other working conditions, the device body 3 and the second obstacle crossing assembly 1b can rotate and move relative to each other at a certain angle due to the rotation degree of freedom and the horizontal movement degree of freedom, so that the slight swing of the device body 3 does not affect the rotation or movement of the second obstacle crossing assembly 1b, thereby reducing the swing influence of the device body 3 on the second obstacle crossing assembly 1b, avoiding the problem that the swinging device body 3 pulls or twists the obstacle crossing execution component 12, improving the fixing stability of the obstacle crossing execution component 12 on the wall surface of the second obstacle crossing assembly 1b, and further ensuring the working efficiency.

[0073] Further, the ejection member 922 includes a top rod 922a driven by an elastic member, and a connecting rod 922b arranged at the end of the top rod 922a and corresponding to the side shape of the strip-shaped stroke member 11 or the movable seat 2 of the second connecting assembly. Specifically, the number of elastic members in the embodiment is two, and the elastic members are arranged in parallel in the extension direction of the side surface of the strip-shaped stroke member 11 or the movable seat 2 of the second connecting assembly. The elastic member is a compression spring, and the longitudinal width of the connecting rod 922b is greater than the longitudinal width of the transverse shell 921. Regardless of the relative rotation direction (clockwise or counterclockwise) between the movable seat 2 of the second connecting assembly and the bearing seat, a part of the spring in the transverse shell 921 will be compressed and elastically deformed. When the working condition factor affecting the swing of the machine body disappears, the elastic potential energy of the compressed spring will be released to drive the movable seat 2 of the second connecting assembly and the bearing seat 91 to reset to the stable assembly state. That is to say, regardless of the relative rotation between the movable seat 2 of the second connecting assembly and the bearing seat 91, they can be reset after the swing factor disappears, and a part of the spring is always compressed, which means that the elastic member can convert the kinetic energy of mutual rotation into elastic potential energy through the compression spring, so as to reduce the amplitude of relative rotation. Therefore, the connecting rod 922b can ensure the reset stability and swing reduction stability of the elastic member.

[0074] In view of the fact that in the conventional operation, the wall climbing robot is often designed as a plurality of moving rods to realize the climbing movement by the way of alternating movement. The structure for lifting or raising the fixed part on the conventional moving rod is generally a straight rod structure with a track, and the fixed part is fixed at the end of the straight rod structure. When the fixed part is raised or lifted, the corresponding straight rod structure is lifted by a corresponding distance. The lifted straight rod structure occupies the working space of the working part of the wall climbing robot, which makes the straight rod structure inevitably interfere with the working part of the wall climbing robot in some cases, affecting the normal operation.

[0075] Based on the above defects, in an improved embodiment, the driving assembly 122 comprises a folding assembly 122a and a driving member 122b, and the fixed part 121 is a suction accessory;

[0076] One end of the folding assembly 122a is arranged on the strip-shaped stroke member 11, and the other end of the folding assembly 122a is arranged on the suction accessory.

[0077] The driving member 122b is arranged on the strip-shaped stroke member 11 and is configured to drive the folding assembly 122a to perform unfolding or folding action.

[0078] When the folding assembly 122a performs unfolding action, the suction accessory is away from the strip-shaped stroke member 11, and when the folding assembly 122a performs folding action, the suction accessory is close to the strip-shaped stroke member 11.

[0079] The embodiment avoids the problem that the obstacle crossing execution part 12 is lifted correspondingly following the lifting movement of the suction accessory by the function of folding and reducing the space occupation of the obstacle crossing execution part 12, so that the unfolding or folding of the folding assembly 122a does not occupy the working space of the working part of the wall climbing robot, and the working efficiency of the cleaning robot is ensured.

[0080] The folding assembly 122a comprises two folding arms arranged oppositely and moving synchronously, the inner joint ends of the two folding arms are hinged to the strip-shaped stroke member 11, the outer joint ends of the two folding arms are hinged to the suction accessory, and the driving member 122b is used to drive the inner joint ends of the two folding arms.

[0081] Specifically, each folding arm comprises a driving arm directly driven by the driving member 122b, and a driven arm connected between the driving arm and the inner joint end. The driving arm and the driven arm are hinged to each other, and a receiving groove is formed on the driving arm or the driven arm to avoid the interference phenomenon between the driving arm and the driven arm when they are folded relative to each other, and to save the space occupation of the folding assembly 122a.

[0082] In the embodiment, by limiting the two folding arms in the space from the inner joint end to the outer joint end, the stroke of the driving assembly and the fixing member is located in the space of the device body 3 to the wall surface, and in the activity range of the driving assembly and the fixing member, interference or collision with the operation mechanism 7 is not easy to occur, and only when the operation mechanism 7 is close to the wall surface and is located in the space near the driving assembly and the fixing member, the obstacle avoidance operation needs to be performed, and the activity range of the folding arm and the fixing member in combination with the embodiment is limited in the length direction of the strip-shaped stroke member, which has higher predictability, so that the obstacle avoidance operation of the operation mechanism 7 is more simple and convenient, and subsequent operation path planning and intelligent operation of the operation mechanism 7 are facilitated.

[0083] In summary, the several obstacle crossing assemblies of the embodiment of the present application can be alternately fixedly connected with the wall surface, cooperate with the connecting assembly to make the device body move relative to the obstacle crossing assembly not fixedly connected, and then through the precise control of the control mechanism, the obstacle crossing assembly and the connecting assembly are alternately operated, so that the defects of poor obstacle crossing ability, easy to jam and complex obstacle crossing structure and tedious operation of the existing device are solved. The linear structure of the strip-shaped stroke member provides a regular guide path when the device body moves relative to the length direction, ensures accurate and controllable and smooth movement without deviation, and has good rigidity and anti-deformation ability, so that the load is dispersed, the device body with large weight and large volume can be compatible, and structural deformation and obstacle crossing failure are avoided. Through the alternating control of the control mechanism on the obstacle crossing assembly and the connecting assembly, the device can cross the obstacle along the linear path, realize action cooperation, improve the obstacle crossing efficiency and reliability, and is suitable for high-rise building wall surface operation, and takes into account the high-altitude operation safety and wall surface operation efficiency. At the same time, the embodiment sets several obstacle crossing assemblies including the strip-shaped stroke member, cooperates with the connecting assembly to realize the obstacle crossing movement of the device body in the length direction of the strip-shaped stroke member, and the direction, angle and position of the obstacle crossing assembly after completing the obstacle crossing are highly standardized, which can avoid the operation area or realize regular movement under the premise of being unable to avoid shielding the operation area, so as to facilitate subsequent operation path planning and intelligent operation of the operation mechanism.

[0084] The above only describes the preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A wall-mounted work device with obstacle-crossing function, comprising a device body, characterized in that, Also includes: Several obstacle-crossing components are connected to the device body, including a strip-shaped travel member and an obstacle-crossing execution component disposed on the strip-shaped travel member. The obstacle-crossing execution component includes a fixing part and a driving component. The driving component is connected between the strip-shaped travel member and the fixing part and is used at least to control the fixing part to move closer to or away from the wall. The fixing part is used to be detachably fixed to the wall. A connecting component for connecting the obstacle-crossing component and the device body, the connecting component enabling the device body to move relative to the corresponding obstacle-crossing component at least in the length direction of the strip-shaped travel member; A control mechanism is used to control the alternating action of the corresponding obstacle-crossing component and the connecting component to achieve obstacle-crossing operation; The working mechanism is connected to the main body of the device and is used for contact operations that can be detached from the wall surface, or for operations that are spaced at a predetermined distance from the wall surface. The connecting assembly includes a movable seat disposed on the device body. The movable seat is slidably connected to the strip-shaped travel member in a lockable manner. The strip-shaped travel member has parallel guide grooves and a longitudinal rack formed in the length direction. The movable seat is also provided with a first motor seat, a first gear and a first sliding member. The first motor seat is used to drive the first gear that meshes with the longitudinal rack. The first sliding member is embedded in the guide groove and can slide relative to the guide groove.

2. The wall-mounted work device with obstacle-crossing function according to claim 1, characterized in that, The working mechanism includes a multi-axis robotic arm and a working execution component. The multi-axis robotic arm is connected to the main body of the device, and the working execution component is connected to the free end of the multi-axis robotic arm.

3. The wall-mounted work device with obstacle-crossing function according to claim 1, characterized in that, The obstacle-crossing component is connected to the side of the device body facing the wall, and the working mechanism is connected to the side of the device body facing away from the wall.

4. The wall-mounted work device with obstacle-crossing function according to claim 1, characterized in that, Each obstacle-crossing component has two obstacle-crossing actuators, which are located at both ends of the strip-shaped travel member.

5. The wall-mounted work device with obstacle-crossing function according to claim 1, characterized in that, The driving assembly includes a folding assembly and a driving component, and the fixing part is an adsorption component; One end of the folding assembly is attached to the strip-shaped travel member, and the other end of the folding assembly is attached to the adsorption member; as well as The driving member is mounted on the strip-shaped travel member and configured to drive the folding assembly to perform an unfolding or folding action. When the folding assembly unfolds, the suction member moves away from the strip-shaped travel member; when the folding assembly folds, the suction member moves closer to the strip-shaped travel member.

6. The wall-mounted work device with obstacle-crossing function according to claim 5, characterized in that, The folding assembly includes two folding arms that are arranged opposite each other and move synchronously. The inner connecting ends of the two folding arms are hinged to the strip-shaped travel member, and the outer connecting ends of the two folding arms are hinged to the adsorption member. The driving member is used to drive the inner connecting ends of the two folding arms.

7. The wall-mounted work device with obstacle-crossing function according to any one of claims 1 to 6, characterized in that, The obstacle-crossing component includes a first obstacle-crossing component and a second obstacle-crossing component. The connecting component includes a first connecting component for connecting the first obstacle-crossing component and the device body, and a second connecting component for connecting the second obstacle-crossing component and the device body.

8. The wall-mounted work device with obstacle-crossing function according to claim 7, characterized in that, The device body is in the shape of a crossbeam. The wall-mounted working device with obstacle-crossing function also includes a traction mechanism. The traction mechanism includes guide devices on both sides of the crossbeam-shaped device body. The traction mechanism is used to drive the device body to translate relative to the wall in a direction parallel to the wall, and the translation direction is parallel to the length direction of the strip-shaped travel member of the first obstacle-crossing component.

9. The wall-mounted work device with obstacle-crossing function according to claim 8, characterized in that, The movable seat includes a placement surface disposed relative to the wall surface, the first motor seat is formed on the placement surface, and the first gear is disposed close to the placement surface. A first bracket is also formed on the placement surface, and the side of the first bracket opposite to the guide groove is used to fix the first sliding member.

10. The wall-mounted work device with obstacle-crossing function according to claim 9, characterized in that, The beam-shaped device body has a transverse rack parallel to the slide rail in the length direction. The placement surface of the movable seat of the first connecting component is also provided with a second motor seat and a second gear. The second motor seat is used to drive the second gear that meshes with the transverse rack.

11. The wall-mounted work device with obstacle-crossing function according to claim 10, characterized in that, The second connection assembly further includes an adaptive reset assembly, which includes a bearing housing disposed on the device body and a reset device connected to the bearing housing. The reset device is fixedly connected to the bearing housing and includes a transverse housing for accommodating the elastic element. It also includes an ejector that is movably connected to the transverse housing and driven by the elastic element. The ejector abuts against the side of the strip-shaped travel member of the second obstacle-crossing assembly, or the ejector abuts against the side of the movable seat of the second obstacle-crossing assembly.

12. The wall-mounted work device with obstacle-crossing function according to claim 11, characterized in that, The bearing housing includes a base that is slidably connected to the device body, and a connecting seat that is fixedly connected to the transverse housing. The bottom of the movable seat of the second connecting component has a shaft sleeved in the bearing of the bearing housing, so that the movable seat of the second connecting component can rotate relative to the bearing housing and the device body. The ejector includes a push rod driven by an elastic member, and a connecting rod provided at the end of the push rod and corresponding to the shape of the strip-shaped travel member or the side of the movable seat of the second obstacle-crossing component.

13. The wall-mounted work device with obstacle-crossing function according to claim 12, characterized in that, The beam-shaped device body has a slide rail formed along its length, and the connecting seat has a slider formed in the direction relative to the device body, the position of the slider corresponding to the position of the slide rail.

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