Wall surface obstacle crossing device and obstacle crossing method

Abstract

The application provides a wall obstacle surmounting device and method. The wall obstacle surmounting device comprises a device body, a plurality of obstacle surmounting components connected to the device body, a strip-shaped stroke member, an obstacle surmounting executing component arranged on the strip-shaped stroke member, a fixing portion and a driving component, the driving component is connected between the strip-shaped stroke member and the fixing portion, and is used for controlling the fixing portion to approach or move away from the wall; a connecting component is used for connecting the obstacle surmounting component and the device body, the connecting component enables the device body to move in the length direction of the strip-shaped stroke member relative to the corresponding obstacle surmounting component; and a control mechanism is used for controlling the corresponding obstacle surmounting component and the connecting component to alternately act, so as to realize the obstacle surmounting operation. The application improves the obstacle surmounting efficiency and reliability, is suitable for high-rise building wall operation, and takes into account the high-altitude operation safety and wall operation efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wall climbing robots, in particular to a wall obstacle surmounting device and a surmounting method. BACKGROUND

[0002] With the continuous improvement of infrastructure level, the number of high-rise buildings is increasing, and the wall surface (such as glass exterior wall) needs to be cleaned, detected and maintained regularly to keep the building appearance clean or ensure the safety of the building structure. Therefore, the application of obstacle surmounting robots in the field of wall work has strong necessity, which can replace manual work in dangerous high-altitude wall environment and improve the safety and efficiency of work.

[0003] However, the existing wall working device has insufficient obstacle surmounting ability when facing obstacles such as protrusions and depressions on the wall. Some devices use the whole moving mode, which is easy to be stuck or even unable to move once encountering obstacles; some other devices have complex obstacle surmounting structure, complicated operation and poor adaptability to obstacles, which makes it difficult to efficiently and stably complete the obstacle surmounting operation, seriously affecting the efficiency and effect of wall work. SUMMARY

[0004] In view of the deficiencies of the prior art, one of the purposes of the present application is to provide a wall obstacle surmounting device, which can surmount obstacles along a linear path, realize action coordination, and improve the obstacle surmounting efficiency and reliability.

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

[0006] A wall obstacle surmounting device, comprising a device body, further comprising:

[0007] A plurality of obstacle surmounting components, each obstacle surmounting component being connected to the device body, comprising a strip-shaped travel member, and further comprising an obstacle surmounting execution part provided on the strip-shaped travel member, the obstacle surmounting execution part comprising a fixed part and a driving assembly, the driving assembly being connected between the strip-shaped travel member and the fixed part, and being used at least for controlling the fixed part to approach or move away from the wall surface, the fixed part being used for fixedly connecting with the wall surface in a detachable manner;

[0008] A connecting assembly for connecting the obstacle surmounting component and the device body, the connecting assembly enabling the device body to move relative to the corresponding obstacle surmounting component at least in the length direction of the strip-shaped travel member;

[0009] A control mechanism for controlling the alternating action of the corresponding obstacle surmounting component and the connecting assembly to realize obstacle surmounting operation;

[0010] The obstacle surmounting component comprises a first obstacle surmounting component and a second obstacle surmounting component, the connecting assembly comprises a first connecting assembly for connecting the first obstacle surmounting component and the device body, and further comprises a second connecting assembly for connecting the second obstacle surmounting component and the device body;

[0011] The number of the first obstacle-surmounting assemblies is even, all the strip stroke members of the first obstacle-surmounting assemblies are arranged in parallel, and all the first obstacle-surmounting assemblies are symmetrically arranged on the device body.

[0012] Preferably, the connecting assembly comprises a movable seat arranged on the device body, and the movable seat is in slide connection with the strip stroke member.

[0013] Preferably, the device body is in the shape of a beam, and the wall obstacle-surmounting device further comprises a traction mechanism, the traction mechanism comprises guide devices arranged on both sides of the beam-shaped device body, and 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 direction of translation is parallel to the length direction of the strip stroke member of the first obstacle-surmounting assembly.

[0014] Preferably, the strip stroke member is formed with parallel 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 sliding member, the first motor seat is used to drive the first gear engaged with the longitudinal racks, and the first sliding member is embedded in the guide groove and can slide relative to the guide groove.

[0015] Preferably, the movable seat comprises a placement surface arranged relative to the wall, the first motor seat is formed on the placement surface, the first gear is arranged close to the placement surface, the placement surface is further formed with a first support, and the first support is used to fix the first sliding member relative to one side of the guide groove.

[0016] Preferably, the beam-shaped device body is formed with a transverse rack parallel to the slide rail in the length direction, the placement surface of the movable seat of the first connecting assembly is further provided with a second motor seat and a second gear, and the second motor seat is used to drive the second gear engaged with the transverse rack.

[0017] Preferably, the number of the second obstacle-surmounting assemblies is even, and all the second obstacle-surmounting assemblies are symmetrically arranged on the device body.

[0018] Preferably, the second connecting assembly further comprises an adaptive reset assembly, the adaptive reset assembly comprises a bearing seat arranged on the device body, further comprises a reset device connected to the bearing seat, the reset device is fixedly connected with the bearing seat, comprises a transverse housing for accommodating an elastic member, and further comprises an ejector in active connection with the transverse housing and driven by the elastic member, the ejector is stopped on the side surface of the strip stroke member of the second obstacle-surmounting assembly, or the ejector is stopped on the side surface of the movable seat of the second obstacle-surmounting assembly.

[0019] Preferably, the bearing seat comprises a base slidingly connected with the device body, and further comprises a connecting seat fixedly connected with the transverse shell, a shaft body is formed at the bottom of the movable seat of the second connecting assembly and sleeved in the bearing of the bearing seat, so that the movable seat can rotate relative to the bearing seat and the device body, the ejector comprises a top rod driven by an elastic member, and a connecting rod is arranged at the end of the top rod and corresponds to the side surface shape of the strip-shaped stroke member or the movable seat.

[0020] Preferably, the beam-shaped device body is formed with a sliding rail in the length direction, and the connecting seat is further formed with a sliding block in the direction opposite to the device body, and the position of the sliding block corresponds to the position of the sliding rail.

[0021] Preferably, the driving assembly comprises a folding assembly and a driving member, and the fixed part is a suction accessory.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] Another object of the present application is to provide an obstacle crossing method based on any one of the above-mentioned wall obstacle crossing devices, wherein the obstacle crossing assembly comprises a first obstacle crossing assembly and a second obstacle crossing assembly, and the control step of the control mechanism comprises:

[0026] The driving assembly of the first obstacle crossing assembly is controlled to expand, so that the fixed part of the first obstacle crossing assembly is close to the wall surface and fixedly connected with the wall surface.

[0027] The driving assembly of the second obstacle crossing assembly is controlled to retract, so that the fixed part of the second obstacle crossing assembly is away from the wall surface, and the distance between the fixed part of the second obstacle crossing assembly and the wall surface is greater than the wall obstacle height.

[0028] The connecting assembly between the second obstacle crossing assembly and the device body is controlled to be locked, and the device body is controlled to move relative to the first obstacle crossing assembly in the length direction of the strip-shaped stroke member of the first obstacle crossing assembly.

[0029] When the second obstacle crossing assembly at least partially crosses the wall obstacle height, the driving assembly of the second obstacle crossing assembly is controlled to expand, so that the fixed part of the second obstacle crossing assembly is close to the wall surface and fixedly connected with the wall surface.

[0030] The driving assembly of the first obstacle-crossing assembly is controlled to retract so that the fixed part of the first obstacle-crossing assembly is away from the wall surface, and the distance between the fixed part of the first obstacle-crossing assembly and the wall surface is greater than the wall surface obstacle height;

[0031] The connecting assembly between the first obstacle-crossing assembly and the device body is controlled to be locked, and the device body is controlled to move relative to the second obstacle-crossing assembly in the length direction of the strip-shaped stroke member of the second obstacle-crossing assembly;

[0032] When the first obstacle-crossing assembly at least partially crosses the wall surface obstacle height, the above steps are repeatedly performed.

[0033] Compared with the prior art, the embodiment of the present application has the following advantages:

[0034] 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 actuated, which solves the defects of poor obstacle-crossing ability, easy jamming, complex obstacle-crossing structure and complicated operation of the existing device. The linear structure of the strip-shaped stroke member provides a regular guide path when the device body moves relative to the length direction, guarantees the accurate and controllable and smooth movement without deviation, and disperses the load and is compatible with a large weight body by virtue of good rigidity and anti-deformation ability, so as to avoid structural deformation and obstacle-crossing failure. Through the alternating control of the control mechanism on the obstacle-crossing assembly and the connecting assembly, the device can move along the linear path to cross the obstacle, realize the 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. BRIEF DESCRIPTION OF DRAWINGS

[0035] 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 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 creative labor.

[0036] Figure 1 It is a perspective view of the wall surface obstacle-crossing device of the embodiment of the present application, and the working mechanism mounted on the wall surface obstacle-crossing device is also shown in the figure;

[0037] Figure 2 It is a perspective view of the wall surface obstacle-crossing device of the embodiment of the present application, and the working mechanism mounted on the wall surface obstacle-crossing device is also shown in the figure;

[0038] Figure 3 It is Figure 2 It is a partial enlarged view of position A in FIG. 8;

[0039] Figure 4 It is Figure 2A local enlarged view at B;

[0040] Figure 5 A perspective view of the strip-shaped stroke member and the second connecting assembly according to an embodiment of the present application;

[0041] Figure 6 A perspective view of Figure 5 A perspective view from another angle;

[0042] Figure 7 A perspective view of Figure 5 An exploded view of

[0043] Figure 8 A perspective view of Figure 5 A perspective view with the strip-shaped stroke member and part of the components hidden, showing the shaft body;

[0044] Figure 9 A perspective view of the obstacle-crossing execution component according to an embodiment of the present application. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0046] In the description of the present 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 convenience of describing the present 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 present application. In addition, the terms “first”, “second”, “third”, “fourth” and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0047] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms “mounting”, “connection”, “connection” 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 present application can be understood according to the specific circumstances.

[0048] Please refer to Figures 1 to 9 A wall obstacle-crossing device, comprising a device body 3, further comprising:

[0049] A plurality of barrier-crossing assemblies 1 are connected to the device body 3, including a strip-shaped stroke member 11, and a barrier-crossing execution component 12 arranged on the strip-shaped stroke member 11, the barrier-crossing execution component 12 including a fixed part 121 and a driving assembly 122 connected between the strip-shaped stroke member 11 and the fixed part 121, at least for controlling the fixed part 121 to approach or move away from the wall surface, and the fixed part 121 is used for detachable fixed connection with the wall surface;

[0050] A connecting assembly is used to connect the barrier-crossing assembly 1 and the device body 3, and the connecting assembly enables 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;

[0051] A control mechanism is used to control the alternating action of the corresponding barrier-crossing assembly 1 and the connecting assembly, so as to realize the barrier-crossing operation.

[0052] As a specific solution rather than a limitation, the barrier-crossing assembly 1 includes a first barrier-crossing assembly 1a and a second barrier-crossing assembly 1b, the connecting assembly includes a first connecting assembly for connecting the first barrier-crossing assembly 1a and the device body 3, and a second connecting assembly for connecting the second barrier-crossing assembly 1b and the device body 3. During the barrier-crossing process, the control mechanism controls the state of the first barrier-crossing assembly 1a and the first connecting assembly, and the second barrier-crossing assembly 1b and the second connecting assembly alternately, so as to realize the translation of the device body 3 under the condition that part of the barrier-crossing assembly 1 is fixed relative to the wall surface.

[0053] Preferably, the number of the first barrier-crossing assembly 1a is even, all the strip-shaped stroke members 11 of the first barrier-crossing assembly 1a are arranged in parallel, and all the first barrier-crossing assemblies 1a are symmetrically arranged on the device body 3. By arranging all the strip-shaped stroke members 11 of the first barrier-crossing assembly 1a in parallel and symmetrically arranging all the first barrier-crossing assemblies 1a on the device body 3, the center of gravity of the wall barrier-crossing device is effectively balanced, and the smoothness of the translation of the barrier-crossing device is ensured.

[0054] Preferably, the connecting assembly includes a movable seat 2 arranged on the device body 3, and the movable seat 2 is at least in a lockable sliding connection with the strip-shaped stroke member 11. The lockable sliding connection between the movable seat 2 and the strip-shaped stroke member 11 can form a rigid connection by locking during barrier-crossing, so as to ensure the accurate movement of the device body 3 along the linear path of the strip-shaped stroke member 11, and after the locking is released, the device body 3 can be flexibly switched to a new path, realizing the seamless connection of the alternating load bearing of the barrier-crossing assembly 1. On the other hand, in the high-altitude scene, the device body 3 can be locked to avoid accidental sliding and disperse the weight load to reduce the safety hazard.

[0055] As a specific solution rather than limitation, taking the working part of the embodiment as an example, the device body 3 is configured in 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 device body 3 in a beam shape. Based on the above changes, the wall obstacle device of the embodiment can also include a traction mechanism 8 when it is applied to a wall obstacle device with a larger weight. The traction mechanism 8 includes guide devices arranged on both sides of the device body 3 in a beam shape. 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-shaped stroke member 11 of the first obstacle assembly 1a. By arranging 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, assisting the device to work efficiently. At the same time, the translation direction is parallel to the length direction of the strip-shaped stroke member 11 of the first obstacle assembly 1a, which can make the obstacle action and the translation action cooperate with each other, reduce motion interference, and significantly improve the coherence and overall efficiency of the device obstacle and translation.

[0056] As a preferred embodiment rather than limitation, the strip-shaped stroke member 11 is formed with parallel guide grooves 111 and longitudinal splines 112 in the length direction. The first motor seat 4, the first gear 5, and the first sliding member 6 are also arranged on the movable seat. The first motor seat 4 is used to drive the first gear 5 engaged with the longitudinal splines 112. The first sliding member 6 is embedded in the guide groove 111 and can slide relative to the guide groove 111. In this embodiment, the first sliding member 6 is embedded in the guide groove 111 and can slide relative to the guide groove 111, which cooperates with the driving structure of the gear and spline. It not only precisely limits the movement trajectory of the component to prevent deviation, but also reduces the friction resistance when the component moves, making the overall movement more stable and smooth, and effectively improving the reliability and stability of the component operation. Preferably, the first sliding member 6 of the embodiment can be a pulley block. The pulley block has the advantages of lightweight and smooth sliding relative to the sliding block 23, further improving the reliability and stability of the component operation under the premise of reducing the weight of the wall obstacle device.

[0057] Preferably, the movable seat 2 of the second connecting assembly 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 also has a first support 22 arranged relative to one side of the guide groove 111 for fixing the first sliding member 6. The first gear 5 and the first sliding member 6 of the embodiment can be located on the same side of the strip-shaped stroke member 11. The first sliding member 6 is arranged closer to the wall relative to the first gear 5, which guarantees the compactness of the structure while guaranteeing the dynamic structural strength, further improving the reliability and stability of the component operation.

[0058] Preferably, the beam-shaped device body 3 is formed with a transverse rack 32 parallel to the slide rail 31 in the length direction, and the placing 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 rack 32. The engagement transmission between the second gear 25 and the transverse rack 32 can provide accurate and reliable driving force for the relative movement between the device body 3 and the movable seat 2, avoiding power loss, and at the same time, the parallel slide rail 31 and the slider 23 structure can together ensure the stability and accuracy of the beam-shaped body carrying a large weight when moving relative to the movable seat 2.

[0059] 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 1 The number of the first obstacle crossing assemblies 1a and the second obstacle crossing assemblies 1b of the embodiment is both two, and the first obstacle crossing assemblies 1a are located outside the second obstacle crossing assemblies 1b. The number of the obstacle crossing execution components of each first obstacle crossing assembly 1a and second obstacle crossing assembly 1b is two, and the obstacle crossing execution components are 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.

[0060] 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, comprising a transverse housing 921 for accommodating an elastic member, and further comprising an ejector 922 movably connected with the transverse housing 921 and driven by the elastic member. The ejector 922 is stopped at the side surface of the strip-shaped stroke member 11 of the second obstacle crossing assembly 1b, or the ejector 922 is stopped at the side surface of the movable seat 2 of the second obstacle crossing assembly 1b.

[0061] Specifically, the bearing seat 91 comprises a base 911 in sliding connection with the device body 3, and further comprises a connecting seat 912 fixedly connected with the transverse housing 921. 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.

[0062] Preferably, the beam-shaped device body 3 is formed with a sliding rail 31 in the length direction, and the connecting seat 912 is also formed with a sliding block 23 in the direction opposite to the device body 3, and the position of the sliding block 23 corresponds to the position of the sliding rail 31. The corresponding matching structure of the sliding block 23 and the sliding rail 31 can make the connection of the movable seat 2 and the device body 3 more closely and flexibly, which not only ensures the structural stability of the two when they are relatively moved, disperses the load (such as the weight of the obstacle crossing assembly and the external force during operation) transmitted by the movable seat 2, avoids the damage caused by the excessive force on the local structure, but also reduces the frictional resistance during relative movement, reduces the wear of the parts, and protects the service life of the wall obstacle crossing device of the embodiment.

[0063] 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 element is elastically deformed, and the kinetic energy of rotation is converted into the elastic potential energy of the elastic element. When the influencing factors causing the slight swing of the device body 3 are eliminated, the elastic potential energy of the elastic element 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.

[0064] Through the above structure, the device body 3 and the second obstacle crossing assembly 1b have a degree of freedom of mutual rotation. At the same time, 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 degree of freedom of relative rotation and a degree of freedom of transverse movement along the device body 3. Therefore, when the fuselage slightly swings due to cleaning / maintenance operation or other working conditions, because the device body 3 and the second obstacle crossing assembly 1b have a degree of freedom of rotation and a degree of freedom of transverse movement, the device body 3 and the second obstacle crossing assembly 1b can rotate and move relatively by a certain angle, so that the slight swing of the device body 3 will not affect the rotation or movement of the second obstacle crossing assembly 1b, thereby achieving the purpose of reducing the swing influence of the device body 3 on the second obstacle crossing assembly 1b, avoiding the problem that the device body 3 being swung pulls or twists the obstacle crossing execution component 12, improving the fixing stability of the obstacle crossing execution component 12 on the second obstacle crossing assembly 1b, and further ensuring the operation efficiency.

[0065] Further, the ejection member 922 includes a top rod 922a driven by an elastic member, and a connecting rod 922b provided 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 obstacle-crossing assembly 1b. Specifically, the number of elastic members in the embodiment is two, and the elastic members are arranged side by side in the extension direction of the side 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 direction (clockwise or counterclockwise) in which the movable seat 2 of the second connecting assembly rotates relative to the bearing seat, a portion of the spring in the transverse shell 921 will be compressed and elastically deformed. When the working condition factor affecting the body swing 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 return to the state when they are stably assembled. That is to say, regardless of how the movable seat 2 of the second connecting assembly and the bearing seat 91 rotate relative to each other, they can both be returned to the stable assembled state after the swing factor disappears. At the same time, a portion of the spring is always compressed, which means that regardless of how the movable seat 2 of the second connecting assembly and the bearing seat 91 rotate relative to each other, the elastic member can convert the kinetic energy of the relative rotation into elastic potential energy through the compression spring, so as to reduce the amplitude of the relative rotation. Therefore, the connecting rod 922b can ensure the return stability of the elastic member and reduce the swing stability.

[0066] In traditional operations, wall-climbing robots are often designed with multiple moving rods that move alternately to achieve the purpose of climbing. The structure used to lift or raise the fixed part on the traditional moving rod is generally a straight rod structure with a track. The fixed part is fixed at the end of the straight rod structure. When the fixed part is lifted or raised, the corresponding straight rod structure is lifted by a corresponding distance. The lifted straight rod structure occupies the working space of the working components of the wall-climbing robot, which inevitably causes structural interference and motion interference between the straight rod structure and the working components of the wall-climbing robot in some cases, affecting normal operation.

[0067] Based on the above-mentioned defects, in an improved embodiment, the driving assembly includes a folding assembly 102 and a driving member 103, and the fixed part is a suction accessory 101.

[0068] One end of the folding assembly 102 is arranged on the strip-shaped stroke member 11, and the other end of the folding assembly 102 is arranged on the suction accessory 101.

[0069] The driving member 103 is arranged on the strip-shaped stroke member 11 and is configured to drive the folding assembly 102 to perform an unfolding action or a folding action.

[0070] When the folding assembly 102 performs unfolding action, the suction accessory 101 is away from the strip-shaped stroke member 11, and when the folding assembly 102 performs folding action, the suction accessory 101 is close to the strip-shaped stroke member 11.

[0071] The embodiment can avoid the problem that the obstacle-crossing execution component 12 is lifted along with the lifting movement of the suction accessory 101, and the unfolding or folding of the folding assembly 102 does not occupy the working space of the working component of the wall-climbing robot, thereby ensuring the working efficiency of the cleaning robot.

[0072] The folding assembly 102 includes two folding arms arranged oppositely and synchronously moving, 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 101, and the driving member 103 is used for driving the inner joint ends of the two folding arms.

[0073] Specifically, each folding arm includes a driving arm directly driven by the driving member 103, 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 in the driving arm or the driven arm, so as to avoid the interference phenomenon between the driving arm and the driven arm when the driving arm and the driven arm are folded, and save the space occupation of the folding assembly 102.

[0074] As a specific solution but not limitation, the obstacle-crossing device of the embodiment is used for installing a working mechanism 7 connected to the device body 3, and is used for working in contact with the wall surface or working at a predetermined distance from the wall surface. The working mechanism 7 of the embodiment includes a multi-axis mechanical arm 71 connected to the device body 3 and a working execution component 72 connected to the free end of the multi-axis mechanical arm 71. Specifically, taking the cleaning device as an example, the multi-axis mechanical arm 71 can be a seven-axis mechanical arm, so as to realize the cleaning / wiping operation in a large range, multiple angles and full coverage on the wall surface.

[0075] Another object of the embodiment of the application is to provide an obstacle-crossing method based on the wall obstacle-crossing device described in any one of the above, the obstacle-crossing assembly 1 includes a first obstacle-crossing assembly 1a and a second obstacle-crossing assembly 1b, and the control step of the control mechanism includes:

[0076] The driving assembly 122 of the first obstacle-crossing assembly 1a is controlled to unfold, so that the fixed part 121 of the first obstacle-crossing assembly 1a is close to the wall surface and fixedly connected with the wall surface;

[0077] The driving assembly 122 of the second obstacle-crossing assembly 1b is controlled to retract, so that the fixed part 121 of the second obstacle-crossing assembly 1b is away from the wall surface, and the distance between the fixed part 121 of the second obstacle-crossing assembly 1b and the wall surface is greater than the wall surface obstacle height;

[0078] The connecting assembly between the second obstacle-crossing assembly 1b and the device body 3 is controlled to be locked, and the device body 3 is controlled to move relative to the first obstacle-crossing assembly 1a in the length direction of the strip-shaped stroke piece 11 of the first obstacle-crossing assembly 1a;

[0079] When the second obstacle-crossing assembly 1b at least partially crosses the wall surface obstacle height, the driving assembly 122 of the second obstacle-crossing assembly 1b is controlled to expand, so that the fixed part 121 of the second obstacle-crossing assembly 1b is close to the wall surface and is fixedly connected with the wall surface;

[0080] The driving assembly 122 of the first obstacle-crossing assembly 1a is controlled to retract, so that the fixed part 121 of the first obstacle-crossing assembly 1a is away from the wall surface, and the distance between the fixed part 121 of the first obstacle-crossing assembly 1a and the wall surface is greater than the wall surface obstacle height;

[0081] The connecting assembly between the first obstacle-crossing assembly 1a and the device body 3 is controlled to be locked, and the device body 3 is controlled to move relative to the second obstacle-crossing assembly 1b in the length direction of the strip-shaped stroke piece 11 of the second obstacle-crossing assembly 1b;

[0082] When the first obstacle-crossing assembly 1a at least partially crosses the wall surface obstacle height, the above steps are repeatedly executed.

[0083] The above obstacle-crossing method can efficiently solve the problems of poor obstacle-crossing ability, easy jamming and complex structure of the existing device, and guarantee the precise and continuous obstacle-crossing action, safety and reliability in high-altitude wall surface operation, and balance the operation efficiency and stability.

[0084] In summary, the obstacle-crossing assemblies of the embodiments of the present application can be alternately fixedly connected with the wall surface, the device body is moved relative to the obstacle-crossing assembly not fixedly connected by the connecting assembly, and the obstacle-crossing assemblies and the connecting assembly are alternately controlled by the control mechanism, so as to solve the defects of poor obstacle-crossing ability, easy jamming, complex obstacle-crossing structure and tedious operation of the existing device. The linear structure of the strip-shaped stroke piece provides a regular guide path when the device body is moved relative to the length direction, guarantees the precise and controllable and smooth movement without deviation, and disperses the load and is compatible with a heavy body by virtue of good rigidity and anti-deformation ability, so as to avoid structural deformation and obstacle-crossing failure. The alternating control of the control mechanism on the obstacle-crossing assemblies and the connecting assembly enables the device to move along the linear path in a directional manner, realizes the action cooperation, improves the obstacle-crossing efficiency and reliability, is suitable for high-rise building wall surface operation, and balances the safety of high-altitude operation and the efficiency of wall surface operation.

[0085] The above merely provides the preferred embodiment of the present application, and is not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A wall surface obstacle surmounting device comprising a device body, characterized by, Also include: A plurality of obstacle components, each obstacle component is connected to the device body, including a strip-shaped travel member, and further comprising an obstacle executing component provided on the strip-shaped travel member, the obstacle executing component comprises a fixed part and a driving assembly, the driving assembly is connected between the strip-shaped travel member and the fixed part, at least for controlling the fixed part to approach or away from the wall, the fixed part is used for fixed connection with the wall; The connecting assembly is used for connecting the obstacle component and the device body, and the connecting assembly enables the device body to move at least in the length direction of the strip-shaped travel member relative to the corresponding obstacle component; The control mechanism is used for controlling the alternating action of the corresponding obstacle component and the connecting assembly to realize the obstacle operation; The obstacle component includes a first obstacle component and a second obstacle component, the connecting assembly includes a first connecting assembly for connecting the first obstacle component and the device body, and a second connecting assembly for connecting the second obstacle component and the device body; The number of the first obstacle component is even, all the strip-shaped travel members of the first obstacle component are arranged in parallel, and all the first obstacle components are symmetrically arranged on the device body; The connecting assembly includes a movable seat arranged on the device body, and the movable seat is at least in slide connection with the strip-shaped travel member. The strip-shaped travel member is formed 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 sliding member, the first motor seat is used to drive the first gear engaged with the longitudinal rack, and the first sliding member is embedded in the guide groove and can slide relative to the guide groove.

2. The wall-climbing apparatus according to claim 1, wherein The device body is in the shape of a beam, and the wall obstacle device further comprises a traction mechanism, the traction mechanism comprises guide devices arranged on both sides of the beam-shaped device body, and 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 component.

3. The wall-climbing apparatus according to claim 2, wherein The movable seat includes a placement surface arranged relative to the wall, the first motor seat is formed on the placement surface, and the first gear is arranged close to the placement surface, and the placement surface is further formed with a first support, and one side of the first support relative to the guide groove is used to fix the first sliding member.

4. The wall climbing device of claim 3, wherein, The beam-shaped device body is formed with a transverse rack parallel to the slide rail in the length direction, 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, and the second motor seat is used to drive the second gear engaged with the transverse rack.

5. The wall climbing device of claim 4, wherein, The number of the second obstacle component is even, and all the second obstacle components are symmetrically arranged on the device body.

6. The wall climbing device of claim 5, wherein, 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 ejector in active connection with the transverse shell and driven by the elastic member, the ejector is stopped on the side surface of the strip-shaped travel member of the second obstacle component, or the ejector is stopped on the side surface of the movable seat of the second obstacle component.

7. The wall climbing device of claim 6, wherein, The bearing seat comprises a base slidingly connected with the device body, and a connecting seat fixedly connected with the transverse shell, a shaft body is formed at the bottom of the movable seat of the second connecting assembly and 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 ejector comprises a top rod driven by an elastic member, and a connecting rod arranged at the end of the top rod and corresponding to the side shape of the strip-shaped stroke member of the second obstacle-crossing assembly or the movable seat of the second connecting assembly.

8. The wall-climbing apparatus according to claim 7, wherein The device body in the shape of the beam is formed with a sliding rail in the length direction, and the connecting seat is further formed with a sliding block in the direction relative to the device body, and the position of the sliding block corresponds to the position of the sliding rail.

9. The wall climbing device according to any one of claims 1 to 8, wherein, The driving assembly comprises a folding assembly and a driving member, and the fixed part is a suction accessory; 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; The driving member is arranged on the strip-shaped stroke member and configured to drive the folding assembly to perform unfolding or folding actions. 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. The obstacle-crossing assembly comprises a first obstacle-crossing assembly and a second obstacle-crossing assembly, and the control steps of the control mechanism comprise:

10. A method of wall climbing according to any one of claims 1 to 9, characterized in that, Controlling the driving assembly of the first obstacle-crossing assembly to expand so that the fixed part of the first obstacle-crossing assembly is close to the wall surface and fixedly connected with the wall surface; Controlling the driving assembly of the second obstacle-crossing assembly to retract so that the fixed part of the second obstacle-crossing assembly is away from the wall surface, and the distance between the fixed part of the second obstacle-crossing assembly and the wall surface is greater than the wall surface obstacle height; Controlling the connecting assembly between the second obstacle-crossing assembly and the device body to be locked, and simultaneously controlling the device body to move relative to the first obstacle-crossing assembly in the length direction of the strip-shaped stroke member of the first obstacle-crossing assembly; When the second obstacle-crossing assembly at least partially crosses the wall surface obstacle height, controlling the driving assembly of the second obstacle-crossing assembly to expand so that the fixed part of the second obstacle-crossing assembly is close to the wall surface and fixedly connected with the wall surface; Controlling the driving assembly of the first obstacle-crossing assembly to retract so that the fixed part of the first obstacle-crossing assembly is away from the wall surface, and the distance between the fixed part of the first obstacle-crossing assembly and the wall surface is greater than the wall surface obstacle height; Controlling the connecting assembly between the first obstacle-crossing assembly and the device body to be locked, and simultaneously controlling the device body to move relative to the second obstacle-crossing assembly in the length direction of the strip-shaped stroke member of the second obstacle-crossing assembly; When the first obstacle-crossing assembly at least partially crosses the wall surface obstacle height, the above steps are repeatedly performed. ​

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