Wall-climbing robot for high-altitude operation and obstacle crossing

Abstract

The wall-climbing robot comprises a robot main machine, a vertical obstacle crossing platform, a plurality of climbing obstacle crossing units, a control unit and an operation executing mechanism, the vertical obstacle crossing platform is fixedly connected to one side of the robot main machine, and the vertical obstacle crossing platform is perpendicular to the robot main machine. The multiple climbing obstacle crossing units are sequentially arranged at intervals in the length direction of the vertical obstacle crossing platform, all the climbing obstacle crossing units are in sliding fit with the vertical obstacle crossing platform, the climbing obstacle crossing units are arranged on the robot host through the vertical obstacle crossing platform, and the control unit is arranged in the robot host. The control unit is used for controlling the climbing obstacle crossing units to act alternately. The climbing obstacle-crossing unit is in sliding fit with the vertical obstacle-crossing platform, so that stable movement and obstacle-crossing operation of the robot host along the wall surface are realized, the path planning of the operation executing mechanism is greatly optimized, and the robot is particularly suitable for carrying a heavy operation executing mechanism.

Description

Technical Field

[0001] This invention relates to the field of wall-climbing robot technology, specifically to a wall-climbing robot for high-altitude obstacle crossing. Background Technology

[0002] With the increasing number of high-rise buildings, bridge piers and other large structures, the demand for wall surface work such as cleaning, inspection, maintenance and painting of their walls (such as glass exterior walls and concrete walls) is becoming increasingly urgent. Traditional wall surface work mostly relies on manual labor. Workers need to use scaffolding, suspended baskets or ropes to work at heights, which is not only labor-intensive and inefficient, but also poses extremely high safety risks, such as falls and electric shocks.

[0003] With the development of automation technology, wall-climbing robots have become a core piece of equipment for replacing manual labor in wall-climbing operations. These robots effectively avoid the risk of falls from heights, improving operational safety and efficiency. Most existing wall-climbing robots employ wheeled or tracked structures. Wheeled structures offer advantages such as high speed and low energy consumption, making them suitable for flat wall surfaces. However, in actual operations, there are often large protrusions or grooves at the joints of the wall, requiring climbing and obstacle crossing. Therefore, most tracked or legged wall-climbing robots can only be used for flat wall surfaces.

[0004] A small number of wall-climbing robots employ retractable or suspended track structures, utilizing track deformation to adapt to small protruding obstacles. An elastic suspension mechanism allows the tracks to adjust to the wall's contours, enabling them to traverse protrusions no higher than 5mm. The obstacle-crossing capability of these robots is concentrated on small obstacles under 5mm. For protrusions exceeding 30mm in height or deep depressions, traditional wall-climbing robots struggle to pass. Existing wall-climbing robots have limited obstacle-crossing capabilities, prone to getting stuck or even failing to pass. Summary of the Invention

[0005] To address the shortcomings of existing technologies, one of the objectives of this invention is to propose a wall-climbing robot that can achieve flexible vertical obstacle crossing, improve support stability, achieve efficient and stable obstacle crossing along the vertical direction of the wall, has a reasonable structural layout, effectively avoids operational interference, and is suitable for adapting to complex wall operation scenarios.

[0006] The technical solution of this invention is implemented as follows: A wall-climbing robot for high-altitude obstacle crossing, comprising a robot main unit, a vertical obstacle-crossing platform, several climbing and obstacle-crossing units, a control unit, and a work execution mechanism, wherein: The vertical obstacle-crossing platform is fixedly connected to one side of the robot host, and the vertical obstacle-crossing platform is arranged perpendicular to the robot host. Several climbing and obstacle-crossing units are arranged sequentially at intervals along the length of the vertical obstacle-crossing platform, and each climbing and obstacle-crossing unit is slidably engaged with the vertical obstacle-crossing platform. The climbing and obstacle-crossing units are mounted on the robot host through the vertical obstacle-crossing platform. The control unit is located inside the robot's main unit and is used to control the alternating actions of each climbing and obstacle-crossing unit to achieve obstacle-crossing operations; The operation execution mechanism is located on the other side of the robot host.

[0007] This invention, by setting up a vertical obstacle-crossing platform and multiple climbing obstacle-crossing units arranged along it, enables the climbing obstacle-crossing units to stably and continuously cross obstacles and move in the vertical direction. It is very suitable for continuous operations on building facades and other walls from top to bottom or from bottom to top, simplifies path planning, improves work efficiency, and effectively reduces the lateral footprint of the climbing obstacle-crossing units.

[0008] Preferably, each climbing obstacle-crossing unit includes a guide arm, a sliding mechanism, and at least two climbing actuators. The sliding mechanism is slidably mounted on the vertical obstacle-crossing platform, and the guide arm is fixedly mounted on the sliding mechanism. The guide arm slides up and down along the vertical obstacle-crossing platform via the sliding mechanism. The two climbing actuators are respectively located at both ends of the guide arm. The control unit is communicatively connected to the sliding mechanism and climbing actuators of the climbing obstacle-crossing unit. The symmetrical arrangement of climbing actuators at both ends of the guide arm makes the fixed connection between the climbing obstacle-crossing unit and the working wall more stable, distributes the load during the operation, and avoids excessive force on a single fixed point, which could lead to adsorption failure.

[0009] Preferably, the control unit is configured to control the climbing actuators of at least one of the climbing and obstacle-crossing units to adhere to and be fixed to the working wall surface, and to control the climbing actuators of the remaining climbing and obstacle-crossing units to detach from the wall surface and control their sliding mechanisms to slide along the vertical obstacle-crossing platform so that the remaining climbing and obstacle-crossing units can move vertically relative to the working wall surface to overcome obstacles.

[0010] Preferably, the vertical obstacle-crossing platform is fixed with a vertical guide rail along its length, and the sliding mechanism includes a transverse rotating base, a guide slider that cooperates with the vertical guide rail of the vertical obstacle-crossing platform, and a movement drive assembly. One side of the transverse rotating base is fixed to the guide slider, and the other side of the transverse rotating base is slidably connected to the guide movable arm through the movement drive assembly.

[0011] Preferably, the guide arm is provided with a guide groove and a longitudinal toothed rail extending along its entire length, and the guide groove and the longitudinal toothed rail are distributed in parallel.

[0012] Preferably, the moving drive assembly includes a drive motor, a transmission gear, and a sliding guide disposed on the transverse rotating base. The transmission gear is connected to the output shaft of the drive motor and meshes with the longitudinal toothed track of the guide movable arm. The sliding guide of the moving drive assembly is embedded in the guide groove of the guide movable arm. The drive motor is used to drive the transmission gear to move along the longitudinal toothed track of the guide movable arm, so that the sliding guide on the transverse rotating base slides along the guide groove of the guide movable arm, thereby realizing the transverse rotating base slidingly connected to the guide movable arm through the moving drive assembly.

[0013] Preferably, each climbing actuator includes a wall adsorption module for adsorbing and fixing to the working wall surface and a telescopic drive assembly. The telescopic drive assembly is connected between the guide arm and the wall adsorption module to control the wall adsorption module to move closer to or away from the working wall surface. The wall adsorption module is a vacuum adsorption plate or an electromagnetic chuck.

[0014] Preferably, the vertical obstacle-crossing platform is fixed with a vertical guide rail along its length. The sliding mechanism includes a transverse rotating base, a guide slider that cooperates with the vertical guide rail of the vertical obstacle-crossing platform, and a movement drive assembly. One side of the transverse rotating base is fixed to the guide slider, and the other side of the transverse rotating base is slidably connected to the guide movable arm through the movement drive assembly. Each climbing obstacle-crossing unit is connected to the vertical obstacle-crossing platform through the transverse rotating base and the guide slider, so that the transverse rotating base and its upper guide movable arm can slide up and down along the vertical obstacle-crossing platform.

[0015] Preferably, the telescopic drive assembly includes a linkage folding frame and a power drive component for driving the linkage folding frame to perform an unfolding or folding action. One end of the linkage folding frame is connected to the power drive component and fixed to the guide arm, and the other end of the linkage folding frame is connected to the wall adsorption module.

[0016] Preferably, the linkage folding frame includes a first linkage lifting arm, a second linkage lifting arm, and a rotating shaft. The first and second linkage lifting arms are arranged opposite to each other and move synchronously. The inner ends of the first and second linkage lifting arms are connected to the guide arm. The outer ends of the first and second linkage lifting arms are hinged to the wall adsorption module through the rotating shaft. The power drive component is connected to the inner ends of the first and second linkage lifting arms to drive their movement. The double-link folding structure composed of the first and second linkage lifting arms can improve the stability during the extension and retraction process, ensuring that the vacuum adsorption plate remains parallel to the wall surface when approaching or moving away from the wall surface, thereby improving the reliability and stability of the adsorption.

[0017] Preferably, the work execution mechanism includes a multi-degree-of-freedom robotic arm, a work execution end, and a movable base. The front end of the multi-degree-of-freedom robotic arm is hinged to the movable base, and the multi-degree-of-freedom robotic arm is connected to the robot host via the movable base. The work execution end is connected to the end face of the robot host away from the work surface via the movable base, and the movable base is connected to the robot host via a flange.

[0018] Preferably, the robot host has an internal mounting cavity, and the control unit is disposed within the mounting cavity.

[0019] Compared with the prior art, the present invention has the following beneficial effects: The wall-climbing robot of the present invention includes a robot host, a vertical obstacle-crossing platform, several climbing and obstacle-crossing units, a control unit, and a work execution mechanism. The vertical obstacle-crossing platform is fixedly connected to one side of the robot host and is arranged perpendicular to the robot host. Several climbing and obstacle-crossing units are arranged sequentially at intervals along the length of the vertical obstacle-crossing platform, and each climbing and obstacle-crossing unit is slidably engaged with the vertical obstacle-crossing platform. The climbing and obstacle-crossing units are mounted on the robot host via the vertical obstacle-crossing platform. The control unit is located inside the robot host and is used to control the alternating movements of each climbing and obstacle-crossing unit to achieve obstacle-crossing operations. This invention guides the climbing and obstacle-crossing units along a vertical path using a vertical obstacle-crossing platform, standardizing the height of the position after obstacle crossing. This greatly optimizes the path planning and intelligent working space of the operation execution mechanism, avoiding motion interference. It is particularly suitable for vertical continuous obstacle wall scenarios. Furthermore, the design of multiple climbing and obstacle-crossing units ensures that at least two climbing and obstacle-crossing units are always fixedly connected to the working wall during operation, forming a stable support structure with stronger load-bearing capacity. The robot host maintains a stable posture during obstacle crossing, making it particularly suitable for carrying heavy operation execution mechanisms. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a perspective view of the wall-climbing robot in Embodiment 1 of the present invention; Figure 2 This is a perspective view of the wall-climbing robot in Embodiment 1 of the present invention from another angle; Figure 3 For the present invention Figure 2A detailed magnified diagram of section A in the middle; Figure 4 This is a schematic diagram of the internal structure of the robot host in the wall-climbing robot of the present invention; Figure 5 This is a schematic diagram of the structure of a single climbing and obstacle-crossing unit in Embodiment 1 of the present invention. Figure 1 ; Figure 6 This is a schematic diagram of the structure of a single climbing and obstacle-crossing unit in Embodiment 1 of the present invention. Figure 2 ; Figure 7 This is a schematic diagram of the structure of a single climbing and obstacle-crossing unit in Embodiment 1 of the present invention. Figure 3 ; Figure 8 For the present invention Figure 7 Enlarged detail diagram of section B; Figure 9 This is a schematic diagram of the climbing actuator in Embodiment 1 of the present invention; Figure 10 This is a schematic diagram showing the relationship between the guide arm and the sliding mechanism in Embodiment 1 of the present invention; Figure 11 This is a schematic diagram showing another angle relationship between the guide arm and the sliding mechanism in Embodiment 1 of the present invention; Figure 12 This is an exploded view of the transverse rotating base, guide arm, and moving drive assembly in Embodiment 1 of the present invention; Figure 13 This is an exploded view of the transverse rotating base, guide arm, and moving drive assembly from another angle in Embodiment 1 of the present invention. Figure 14 This is a schematic diagram of the circuit signal flow of the control unit in Embodiment 1 of the present invention.

[0022] In the diagram, the components include: robot host 1, vertical obstacle-crossing platform 2, vertical guide rail 21, climbing obstacle-crossing unit 3, guide arm 31, guide slide 311, longitudinal toothed rail 312, sliding mechanism 32, transverse rotating base 321, shaft 3211, bearing bracket 3212, bearing 3213, guide slider 322, moving drive assembly 323, drive motor 3231, transmission gear 3232, sliding guide component 3233, climbing actuator 33, wall adhesion module 331, anti-slip plate 3311, and telescopic drive assembly. Component 332, Linkage Folding Frame 3321, First Linkage Lifting Arm 33211, Second Linkage Lifting Arm 33212, Rotating Shaft 33213, First Sector Gear 33214, Second Sector Gear 33215, Power Drive Component 3322, Mounting Base 3323, Elastic Reset Unit 34, Housing 341, Elastic Element 342, Pushing Component 343, Control Unit 4, Work Execution Mechanism 5, Multi-Degree-of-Freedom Robotic Arm 51, Work Execution End 52, Movable Base 53, Lifting Mechanism 6, Drive Pulley Block 61. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Example 1 like Figures 1-4As shown, Embodiment 1 of the present invention discloses a wall-climbing robot for high-altitude obstacle crossing. The wall-climbing robot includes a robot host 1, a vertical obstacle-crossing platform 2, several climbing and obstacle-crossing units 3, a control unit 4, and a work execution mechanism 5. The vertical obstacle-crossing platform 2 is fixedly connected to one side of the robot host 1 and is arranged perpendicularly to the robot host 1. Several climbing and obstacle-crossing units 3 are arranged sequentially at intervals along the length of the vertical obstacle-crossing platform 2, and each climbing and obstacle-crossing unit 3 is slidably engaged with the vertical obstacle-crossing platform 2. The climbing and obstacle-crossing units 3 are mounted on the robot host 1 via the vertical obstacle-crossing platform 2. The control unit 4 is located inside the robot host 1 and is used to control the alternating movements of each climbing and obstacle-crossing unit 3 to achieve… The obstacle crossing operation is now performed. The operation execution mechanism 5 is located on the other side of the robot host 1. In this embodiment 1, the robot host 1 adopts a rectangular box structure with a sealed installation cavity inside for installing the control unit 4 and the power supply unit. The robot host 1 is made of high-strength aluminum alloy, which achieves lightweight design while ensuring structural strength. The vertical obstacle crossing platform 2 is a long strip structure. The vertical obstacle crossing platform 2 is fixedly connected to the end face (i.e., the rear side) of the robot host 1 near the working wall. The length direction of the vertical obstacle crossing platform 2 is perpendicular to the end face of the robot host 1. That is, the vertical obstacle crossing platform 2 extends along the vertical direction of the working wall. The length of the vertical obstacle crossing platform 2 is set according to the height of the robot host 1 and the obstacle crossing requirements. This invention provides a stable vertical sliding guide foundation for the climbing and obstacle-crossing units 3 by setting up a vertical obstacle-crossing platform 2. By setting up an obstacle-crossing vertical platform perpendicular to the robot host 1 and arranging several climbing and obstacle-crossing units 3 linearly along its vertical direction, vertical obstacle crossing can be achieved. This vertical obstacle crossing mode enables the climbing and obstacle-crossing units 3 to cross obstacles efficiently and stably along the vertical direction of the wall, with a clear movement trajectory. It effectively avoids random interference with the side working area of ​​the robot host 1, greatly facilitating the path planning of the work execution mechanism 5. It is particularly suitable for wall operation scenarios that require crossing horizontal obstacles or planning vertical work paths. By using the obstacle-crossing vertical platform in conjunction with the spaced arrangement of several climbing and obstacle-crossing units 3, the robot host 1 always keeps at least one climbing and obstacle-crossing unit 3 fixed to the working wall during vertical movement and obstacle crossing, which greatly improves the stability and safety of high-altitude operations and effectively avoids the risk of robot overturning during high-altitude operations.

[0025] Several climbing and obstacle-crossing units 3 include a first climbing and obstacle-crossing unit 3, a second climbing and obstacle-crossing unit 3, and a third climbing and obstacle-crossing unit 3. These three units are arranged sequentially from top to bottom, spaced apart from each other, and slidably mounted on the vertical obstacle-crossing platform 2. In this embodiment 1, the first climbing and obstacle-crossing unit 3, the second climbing and obstacle-crossing unit 3, and the third climbing and obstacle-crossing unit 3 are arranged in a "three" shape on the vertical obstacle-crossing platform 2. That is, the guide arms 31 of each climbing and obstacle-crossing unit 3 are perpendicular to the vertical obstacle-crossing platform 2 and are located in the same vertical plane. Through the mutual cooperation of the first climbing and obstacle-crossing unit 3, the adhesion of the wall-climbing robot to the wall surface during obstacle crossing and operation can be ensured, further improving operational efficiency and reliability.

[0026] In this embodiment 1, lifting mechanisms 6 are fixed on the left and right sides of the robot host 1. Each lifting mechanism 6 includes a drive pulley assembly 61 mounted on one side of the robot host 1. This drive pulley assembly 61 cooperates with a lifting rope. One end of the lifting rope is wound in a winch, and the other end passes over the drive pulley assembly 61. The drive pulley assembly 61 is driven by the lifting rope. The coordination between the lifting rope and the drive pulley allows for coordinated control of the lifting mechanism 6 and vertical obstacle-crossing movements. For example, when vertical movement of the work position is required, the lifting mechanism 6 is controlled by the lifting rope to move the robot host 1 up and down as a whole.

[0027] The work execution mechanism 5 of this invention includes a multi-degree-of-freedom robotic arm 51, a work execution end 52, and a movable base 53. The front end of the multi-degree-of-freedom robotic arm 51 is hinged to the movable base 53, and the multi-degree-of-freedom robotic arm 51 is connected to the robot host 1 through the movable base 53. The work execution end 52 is connected to the end face of the robot host 1 away from the working wall surface through the movable base 53. The movable base 53 is connected to the robot host 1 through a flange. The multi-degree-of-freedom robotic arm 51 is a seven-axis robotic arm, and its free end is connected to the work execution end 52. In this embodiment 1, the work execution end 52 is a rotating cleaning brush, which works in conjunction with a high-pressure water spray module to achieve wall cleaning operations.

[0028] In other embodiments, the work execution end 52 can be replaced with a detection probe (for wall defect detection), a coating nozzle (for wall coating), etc., depending on the work requirements. Only the work execution end 52 needs to be replaced, while the rest of the structure remains unchanged, which has good versatility.

[0029] like Figures 2-9As shown, each climbing obstacle-crossing unit 3 includes a guide arm 31, a sliding mechanism 32, and at least two climbing actuators 33. The sliding mechanism 32 is slidably mounted on the vertical obstacle-crossing platform 2. The guide arm 31 is fixedly mounted on the sliding mechanism 32. The guide arm 31 slides up and down along the vertical obstacle-crossing platform 2 via the sliding mechanism 32. The two climbing actuators 33 are respectively located at both ends of the guide arm 31. The control unit 4 is communicatively connected to the sliding mechanism 32 and the climbing actuators 33 of the climbing obstacle-crossing unit 3. The control unit 4 is configured to control the climbing actuators 33 of at least one climbing obstacle-crossing unit 3 to be attached to the working wall surface, and control the climbing actuators 33 of the remaining climbing obstacle-crossing units 3 to detach from the wall surface and control their sliding mechanisms 32 to slide along the vertical obstacle-crossing platform 2 so that the remaining climbing obstacle-crossing units 3 can move vertically over the obstacle relative to the working wall surface. In specific implementation, the guide arm 31 is a rectangular rod structure made of stainless steel. Climbing actuators 33 are symmetrically arranged at both ends of the guide arm 31, which can make the fixed connection between the climbing obstacle crossing unit 3 and the working wall more stable, further improving the stability of the connection between a single climbing obstacle crossing unit 3 and the wall, dispersing the load during the operation, and avoiding excessive force on a single fixed point that could lead to adsorption failure. Each climbing obstacle crossing unit 3 is slidably connected to the vertical obstacle crossing platform 2 through the sliding mechanism 32, realizing up and down movement along the vertical obstacle crossing platform 2. The vertical obstacle crossing platform 2 is a rigid structure, providing a stable installation and guiding foundation for each climbing obstacle crossing unit 3.

[0030] Each climbing actuator 33 includes a wall adsorption module 331 for adsorbing and fixing to the working wall surface and a telescopic drive assembly 332. The telescopic drive assembly 332 is connected between the guide arm 31 and the wall adsorption module 331, and is used at least to control the wall adsorption module 331 to move closer to or away from the working wall surface. The wall adsorption module 331 can be a vacuum adsorption plate or an electromagnetic chuck. In this embodiment 1, the wall adsorption module 331 is preferably a vacuum adsorption plate. A pressure sensor is provided inside the vacuum adsorption plate to detect the adsorption pressure. The adsorption surface of the wall adsorption module 331 is provided with anti-slip pads 3311 to improve the sealing performance with the wall surface. The single climbing and obstacle-crossing unit 3 adopts a combination structure of guide arm 31, sliding mechanism 32, and two climbing actuators 33. The telescopic drive component 332 can precisely control the telescopic movement of the wall adsorption module 331. The wall adsorption module 331 achieves reliable fixation and detachment from the working wall. The structure of the climbing and obstacle-crossing unit 3 is reliable, and it is separated from the working execution mechanism 5 on the robot host 1, which effectively avoids structural interference during the operation and facilitates the path planning of the working execution mechanism 5.

[0031] The telescopic drive assembly 332 of the present invention includes a linkage folding frame 3321 and a power drive component 3322. One end of the linkage folding frame 3321 is connected to the power drive component 3322 and fixed to the guide arm 31. The power drive component 3322 is used to drive the linkage folding frame 3321 to perform an unfolding or folding action. The other end of the linkage folding frame 3321 is connected to the wall adsorption module 331. In a specific implementation, a mounting base 3323 is provided between the guide arms 31 at one end of the linkage folding frame 3321, and one end of the linkage folding frame 3321 is connected to the mounting base 3323. 23 is fixed to the guide arm 31. The power drive component 3322 can be a linear drive device such as a linear motor or rotary cylinder. In this embodiment 1, the power drive component 3322 is preferably a linear motor. The power drive component 3322 directly drives the linkage folding frame 3321, causing the linkage folding frame 3321 to drive the wall adsorption module 331 to perform a telescopic movement perpendicular to the wall. Using the linkage folding frame 3321 to drive the wall adsorption module 331 to telescopically move can reduce the space occupation of the linkage folding frame 3321 and avoid interference with the working execution mechanism 5. When the linkage folding frame 3321 is unfolded, the wall adsorption module 331 is away from the guide arm 31; when the linkage folding frame 3321 is folded, the wall adsorption module 331 is close to the guide arm 31. The folding method of the linkage folding frame 3321 in this invention can reduce the space occupation of the climbing actuator 33.

[0032] In a specific implementation, the linkage folding frame 3321 of the present invention includes a first linkage lifting arm 33211, a second linkage lifting arm 33212, and a rotating shaft 33213. The first linkage lifting arm 33211 and the second linkage lifting arm 33212 are arranged opposite to each other and move synchronously. The inner ends of the first linkage lifting arm 33211 and the second linkage lifting arm 33212 are connected to the guide movable arm 31. The outer ends of the first linkage lifting arm 33211 and the second linkage lifting arm 33212 are hinged to the wall adsorption module 331 through the rotating shaft 33213. The power drive component 3322 is connected to the first linkage lifting arm. The inner ends of the first and second linkage lifting arms 33211 and 33212 are connected. The power drive unit 3322 drives the inner ends of both arms. The inner ends of the first and second linkage lifting arms 33211 and 33212 are fixed to the guide arm 31 via mounting base 3323. One end of the first linkage lifting arm 33211 is provided with a first sector gear 33214, and one end of the second linkage lifting arm 33212 is provided with a second sector gear 33215. The first sector gear 33214 meshes with the second sector gear 33215. The double-link folding structure formed by the first and second linkage lifting arms 33211 and 33212 improves stability during the extension and retraction process, ensuring that the vacuum adsorption disk remains parallel to the wall surface when approaching or moving away from it, thus enhancing the reliability and stability of the adsorption.

[0033] like Figures 10-13As shown, the present invention has a vertical guide rail 21 fixed along the length of the vertical obstacle crossing platform 2. The sliding mechanism 32 includes a transverse rotating base 321, a guide slider 322 that cooperates with the vertical guide rail 21 of the vertical obstacle crossing platform 2, and a movement drive assembly 323. One side of the transverse rotating base 321 is fixed to the guide slider 322, and the other side of the transverse rotating base 321 is slidably connected to the guide movable arm 31 through the movement drive assembly 323. The transverse rotating base 321 can slide left and right along the guide movable arm 31 through the movement drive assembly 323. In this embodiment 1, the vertical guide rail 21 adopts a high-precision linear slide rail. The vertical guide rail 21 is fixed to the front side of the vertical obstacle crossing platform 2 by screws. Each climbing obstacle crossing unit 3 is slidably connected to the vertical obstacle crossing platform 2 through the transverse rotating base 321 and the guide slider 322. The guide slider 322 is fixed to the back of the transverse rotating base 321 and is embedded in the vertical guide rail 21 of the vertical obstacle crossing platform 2. It can slide up and down along the vertical guide rail 21. The climbing obstacle crossing unit 3 cooperates with the vertical guide rail 21 of the vertical obstacle crossing platform 2 through the guide slider 322 of the sliding mechanism 32, so that the connection between the transverse rotating base 321 and the vertical obstacle crossing platform 2 is tighter and more flexible. This ensures the structural stability of the two when they move relative to each other, and also disperses the load transmitted by the transverse rotating base 321 (such as the weight of the climbing obstacle crossing unit 3), avoiding damage caused by excessive local structural stress. It also reduces the frictional resistance during relative movement, reduces component wear, and extends the service life of the climbing obstacle crossing unit 3.

[0034] In other embodiments, several reinforcing ribs can be provided on the back of the vertical obstacle crossing platform 2, spaced apart vertically, to improve the bending deformation resistance of the vertical obstacle crossing platform 2.

[0035] The present invention provides a guide groove 311 and a longitudinal toothed rail 312 extending along the entire length of the guide movable arm 31. The guide groove 311 and the longitudinal toothed rail 312 are distributed in parallel. The moving drive assembly 323 includes a drive motor 3231, a transmission gear 3232, and a sliding guide 3233 disposed on the transverse rotating base 321. The drive motor 3231 can be fixed to the transverse rotating base 321 by a motor mounting bracket. The transmission gear 3232 is connected to the output shaft of the drive motor 3231 and meshes with the longitudinal toothed rail 312 of the guide movable arm 31. The drive motor 3231 is used to drive the transmission gear 3232 to move along the longitudinal toothed rail 312. The sliding guide 3233 of the moving drive assembly 323 is embedded in the guide groove 311 of the guide movable arm 31 and can slide relative to the guide groove 311. In this embodiment 1, a support bracket is fixed on the transverse rotating base 321. The support bracket is arranged opposite to the guide groove 311 of the guide movable arm 31. The support bracket is used to fix the sliding guide 3233. The transmission gear 3232 and the sliding guide 3233 can be located on the same side or opposite sides of the guide movable arm 31. The sliding guide 3233 is a pulley set. The pulley set is fixed on the transverse rotating base 321 by the support bracket and is embedded in the guide groove 311. The transverse rotating base 321 can slide smoothly along the guide groove 311 through the pulley set. The present invention utilizes the sliding guide 3233 embedded in the guide groove 311 and sliding relative to it. It cooperates with the drive structure of the transmission gear 3232 and the longitudinal toothed rail 312. The guide groove 311 precisely limits the movement trajectory of the transverse rotating base 321 to prevent deviation and ensure the smooth and stable movement of the transverse rotating base 321 on the guide movable arm 31. This effectively improves the reliability and stability of the operation of the transverse rotating base 321.

[0036] A bearing bracket 3212 is fixed on one side of the horizontal rotating base 321 of the present invention, and a guide slider 322 is fixed on both sides of the bearing bracket 3212. The guide slider 322 is fixed to one side of the horizontal rotating base 321 through the bearing bracket 3212. The bearing bracket 3212 is slidably connected to the vertical obstacle crossing platform 2 through the guide slider 322. A bearing 3213 is fixed in the middle of the bearing bracket 3212.

[0037] Each climbing and obstacle-crossing unit 3 includes an elastic reset unit 34, which is disposed between the lateral rotating base 321 and the vertical obstacle-crossing platform 2 of the climbing and obstacle-crossing unit 3. The elastic reset unit 34 is disposed on the side of the bearing bracket 3212. The elastic reset unit 34 includes a housing 341, an elastic element 342, and a pushing member 343. The housing 341 is fixed on the bearing bracket 3212, the elastic element 342 is disposed inside the housing 341, and the pushing member 343 is flexibly connected to the housing 341. The system is dynamically connected, with the elastic element 342 preferably being a compression spring. One end of the pusher 343 abuts against the elastic element 342, and the other end of the pusher 343 abuts against the side of the transverse rotating base 321. A shaft 3211 is fixed at the bottom of the transverse rotating base 321, which cooperates with the bearing 3213 of the bearing bracket 3212. The shaft 3211 is sleeved inside the bearing 3213 of the bearing bracket 3212, allowing the transverse rotating base 321 to rotate slightly relative to the bearing bracket 3212. When the robot host 1 wobbles slightly due to uneven wall surface or working force, the transverse rotating base 321 can rotate relative to the bearing bracket 3212, and the elastic element 342 undergoes elastic deformation to absorb the wobbling energy. When the wobbling factor is eliminated, the elastic potential energy of the elastic element 342 is released, pushing the transverse rotating base 321 to reset, ensuring reliable adhesion between the wall adsorption module 331 and the working wall surface, and improving the stability of the wall-climbing robot during operation.

[0038] like Figure 14 As shown, an installation cavity is formed inside the robot host 1, and the control unit 4 is disposed in the installation cavity. In this embodiment, the robot host 1 has a box-shaped structure. The control unit 4 includes a controller, several motor drivers, a sensor group, a wireless communication module, and a power module. The controller is electrically connected to the wireless communication module, motor drivers, sensor group, and power module. The controller is a PLC controller, model S7-1200. The several motor drivers are electrically connected to the drive motor 3231 and the power drive component 3322 (linear motor). The sensor group includes a position sensor for detecting the position of the climbing and obstacle-crossing unit 3, a pressure sensor for detecting the adsorption pressure of the vacuum adsorption plate, and a distance sensor for detecting the distance to the wall. The position sensor is an encoder or a Hall sensor, and the distance sensor is an ultrasonic ranging sensor or a laser ranging sensor. The wireless communication module is used to realize wireless communication with the ground control terminal for remote operation. The box-shaped structure of the robot host 1 can provide good protection for the control unit 4.

[0039] The obstacle-crossing process of the wall-climbing robot in this embodiment 1 is as follows: Step 1) Initial cleaning state: The first climbing and obstacle crossing unit 3, the second climbing and obstacle crossing unit 3, and the third climbing and obstacle crossing unit 3 are all in the initial position. The wall adsorption modules 331 of the first, second, and third climbing and obstacle crossing units 3 are all adsorbed and fixed to the working wall. The robot host 1 remains stable, and the working execution mechanism 5 performs cleaning operations on the working wall. Step 2) Obstacle crossing preparation: The control unit 4 controls the power drive component 3322 of the middle second climbing obstacle crossing unit 3 to fold the linkage folding frame 3321, and the wall adsorption module 331 detaches from the wall. After the second climbing obstacle crossing unit 3 slides upward along the vertical obstacle crossing platform 2 to a position higher than the height of the obstacle, the control unit 4 controls the power drive component 3322 of the middle second climbing obstacle crossing unit 3 to unfold the linkage folding frame 3321, and the wall adsorption module 331 of the second climbing obstacle crossing unit 3 extends and adsorbs onto the wall above the obstacle. Step 3) Moving the robot host 1: Using the lifting rope in conjunction with the lifting mechanisms 6 on the left and right sides of the robot host 1, the robot host 1 is vertically lifted to a position higher than the height of the obstacle; Step 4) The third climbing obstacle crossing unit 3 moves: The control unit 4 controls the drive motor 3231 on the horizontal rotating base 321 of the lowest third climbing obstacle crossing unit 3 to move. The horizontal rotating base 321 slides along the vertical obstacle crossing platform 2, driving the third climbing obstacle crossing unit 3 to move upward along the vertical obstacle crossing platform 2 until the third climbing obstacle crossing unit 3 completely crosses the obstacle. Step 5) Fixing the third climbing and obstacle crossing unit 3: The control unit 4 controls the extension of the linkage folding frame 3321 of the third climbing and obstacle crossing unit 3, and the wall adsorption module 331 adsorbs and fixes itself to the wall above the obstacle. Step 6) Reset: All three climbing and obstacle-crossing units 3 are re-attached and fixed, restoring the initial arrangement state, and completing one obstacle-crossing operation.

[0040] By setting up three climbing and obstacle-crossing units 3, the present invention ensures that at least two climbing and obstacle-crossing units 3 always provide stable adsorption during the obstacle-crossing process (for example, in the case of three climbing and obstacle-crossing units 3, a stable state of "two adsorptions and one movement" or "one adsorption and two movement" can always be maintained), thus ensuring a smoother and more reliable obstacle-crossing process.

[0041] Example 2 This embodiment 2 provides a wall-climbing robot for high-altitude obstacle crossing. The difference between this robot and that of embodiment 1 is that the number of climbing and obstacle-crossing units 3 is two. These two units are spaced vertically along the vertical obstacle-crossing platform 2, and the cross-section of the platform 2 is C-shaped. In this embodiment 2, the telescopic drive assembly 332 of the climbing actuator 33 of the climbing and obstacle-crossing unit 3 uses an electric push rod structure instead of the connecting rod folding frame 3321. The fixed end of the electric push rod is connected to the guide arm 31, and the telescopic end is connected to the wall adsorption module 331. The telescopic movement of the electric push rod directly controls the approach or departure of the wall adsorption module 331. This telescopic drive assembly 332 structure is suitable for operation scenarios with high wall flatness and low obstacle height, offering a simpler structure and lower maintenance costs. The obstacle-crossing process is as follows: the lower climbing obstacle-crossing unit 3 is fixed, and the upper climbing obstacle-crossing unit 3 moves upward along the vertical obstacle-crossing platform 2 until the upper climbing obstacle-crossing unit 3 completely crosses the obstacle and is fixed. Then, the lower climbing obstacle-crossing unit 3 is detached from the wall and moves upward together with the robot host 1 to achieve obstacle crossing.

[0042] Example 3 This embodiment 3 provides a wall-climbing robot for high-altitude obstacle crossing. The main difference between the wall-climbing robot in this embodiment 3 and that in embodiment 1 is the driving method of the climbing obstacle-crossing unit 3 sliding along the vertical obstacle-crossing platform 2. In this embodiment 3, a vertical lead screw is provided on the vertical obstacle-crossing platform 2. The lead screw is driven by a servo motor. A nut seat is fixedly connected to the back of each transverse rotating base 321. The nut seat and the lead screw form a lead screw-nut pair. By driving the lead screw to rotate through the servo motor, all the nut seats meshing with the lead screw and the transverse rotating base 321 can move synchronously or independently along the vertical direction. To maintain stability, the horizontal rotating base 321 can still cooperate with the vertical guide rail 21 through the guide slider 322 on both sides. In this embodiment 3, the screw drive can achieve more precise synchronous control and position positioning, which is suitable for scenarios with higher requirements for obstacle crossing step distance accuracy (such as crossing decorative strips with equal spacing). The control process is similar to that in embodiment 1. The wall adsorption module 331 of part of the climbing obstacle crossing unit 3 is adsorbed and fixed by the control unit 4, and then the screw is driven to rotate, so that the climbing obstacle crossing unit 3 can move relative to the vertical obstacle crossing platform 2.

[0043] Compared with the prior art, the technical solution disclosed in the above embodiments has the following beneficial effects: In the above embodiments, the wall-climbing robot of the present invention adopts a design with multiple climbing and obstacle-crossing units 3, ensuring that at least two climbing and obstacle-crossing units 3 are always fixedly connected to the working wall surface during operation, forming a stable support structure with stronger load-bearing capacity. This effectively avoids the shaking of the robot host 1 during operation, improving operational accuracy. Through the sliding cooperation between the climbing and obstacle-crossing units 3 and the vertical obstacle-crossing platform 2, combined with the alternating control of each climbing and obstacle-crossing unit 3 by the control unit 4, the robot host 1 achieves smooth movement along the wall surface and obstacle-crossing operations, making the robot host 1 stable in posture during obstacle crossing. This is particularly suitable for carrying heavy-duty operation execution mechanisms 5. Compared with existing wall-climbing robot structures, the wall-climbing robot of the present invention has stronger adaptability to vertical obstacles, and its obstacle-crossing actions are smooth and precise, solving the problems of wall-climbing robots getting stuck and having low efficiency during obstacle crossing.

[0044] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A wall-climbing robot for aerial work obstacle crossing, characterized in that it comprises: The wall-climbing robot comprises a robot main machine, a vertical obstacle-surmounting platform, a plurality of climbing obstacle-surmounting units, a control unit and a work execution mechanism. The vertical obstacle-surmounting platform is fixed to one side of the robot main machine, and the vertical obstacle-surmounting platform is arranged vertically to the robot main machine. The plurality of climbing obstacle-surmounting units are arranged in sequence along the length direction of the vertical obstacle-surmounting platform, and each of the climbing obstacle-surmounting units is slidably matched with the vertical obstacle-surmounting platform, and the climbing obstacle-surmounting units are installed on the robot main machine through the vertical obstacle-surmounting platform. The control unit is arranged in the interior of the robot main machine, and is used for controlling the alternate actions of each of the climbing obstacle-surmounting units to realize the obstacle-surmounting operation. The work execution mechanism is arranged on the other side of the robot main machine.

2. The aerial wall-climbing robot capable of obstacle climbing according to claim 1, characterized in that: Each of the climbing obstacle-surmounting units comprises a guide movable arm, a sliding mechanism, and at least two climbing executors, the sliding mechanism is slidably arranged on the vertical obstacle-surmounting platform, the guide movable arm is fixedly installed on the sliding mechanism, the guide movable arm slides up and down along the vertical obstacle-surmounting platform through the sliding mechanism, and the two climbing executors are arranged at two ends of the guide movable arm.

3. The high altitude wall-climbing and obstacle-surmounting robot according to claim 1, characterized in that: The control unit is configured to control the climbing executors of at least one of the climbing obstacle-surmounting units to be adsorbed and fixed to the work wall surface, control the climbing executors of the remaining climbing obstacle-surmounting units to be separated from the wall surface, and control the sliding mechanism of the remaining climbing obstacle-surmounting units to slide along the vertical obstacle-surmounting platform, so that the remaining climbing obstacle-surmounting units move vertically relative to the work wall surface.

4. The high altitude wall-climbing robot capable of obstacle negotiation according to claim 2, characterized in that: The vertical obstacle-surmounting platform is fixed with a vertical guide rail along the length direction, the sliding mechanism comprises a transverse rotation base, a guide sliding block matched with the vertical guide rail of the vertical obstacle-surmounting platform, and a movement driving assembly, one side of the transverse rotation base is fixed with the guide sliding block, and the other side of the transverse rotation base is slidably connected with the guide movable arm through the movement driving assembly.

5. The high altitude wall-climbing and obstacle-surmounting robot of claim 4, characterized in that: The guide movable arm is provided with a guide sliding groove and a longitudinal toothed rail extending along the whole length of the guide movable arm, and the guide sliding groove and the longitudinal toothed rail are distributed in parallel.

6. The high altitude wall-climbing and obstacle-surmounting robot according to claim 4, characterized in that: The movement driving assembly comprises a driving motor arranged on the transverse rotation base, a transmission gear, and a sliding guide, the transmission gear is connected with the output shaft of the driving motor and is engaged with the longitudinal toothed rail of the guide movable arm, the sliding guide of the movement driving assembly is embedded in the guide sliding groove of the guide movable arm, and the driving motor drives the transmission gear to move along the longitudinal toothed rail of the guide movable arm, so that the sliding guide on the transverse rotation base slides along the guide sliding groove of the guide movable arm.

7. The high altitude wall-climbing and obstacle-surmounting robot according to claim 2, characterized in that: Each of the climbing executors comprises a wall surface adsorption module used for adsorbing and fixing to the work wall surface and a telescopic driving assembly connected between the guide movable arm and the wall surface adsorption module to control the wall surface adsorption module to approach or move away from the work wall surface.

8. The aerial wall-climbing robot of claim 7, wherein: The telescopic driving assembly comprises a link folding frame and a power driving part used for driving the link folding frame to perform unfolding or folding actions, one end of the link folding frame is connected with the power driving part and is fixed to the guide movable arm, and the other end of the link folding frame is connected with the wall surface adsorption module.

9. The high altitude wall-climbing and obstacle-surmounting robot according to claim 8, characterized in that: The connecting rod folding frame comprises a first connecting rod lifting arm, a second connecting rod lifting arm, and a rotating shaft, the first connecting rod lifting arm and the second connecting rod lifting arm are oppositely arranged and synchronously moved, inner ends of the first connecting rod lifting arm and the second connecting rod lifting arm are connected with the guide movable arm, outer ends of the first connecting rod lifting arm and the second connecting rod lifting arm are hingedly connected with the wall adsorption module through the rotating shaft, and a power driving member is connected with the inner ends of the first connecting rod lifting arm and the second connecting rod lifting arm to drive the first connecting rod lifting arm and the second connecting rod lifting arm to act.

10. The high altitude wall-climbing and obstacle-surmounting robot of claim 1, wherein: The operation execution mechanism comprises a multi-degree-of-freedom mechanical arm, an operation execution end head, and a movable base, a front end of the multi-degree-of-freedom mechanical arm is hingedly connected with the movable base, the multi-degree-of-freedom mechanical arm is connected with the robot main machine through the movable base, and the operation execution end head is connected with a tail end of the multi-degree-of-freedom mechanical arm.

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