A climbing obstacle device

Abstract

The application provides a climbing obstacle surmounting device, which comprises a device body and a first obstacle surmounting component, the first obstacle surmounting component is located in the middle of the device body and comprises a first stroke piece; the second obstacle surmounting component is two or more in number, comprises a second stroke piece, and is distributed on both sides of the device body; a climbing driving component is arranged on each first obstacle surmounting component and each second obstacle surmounting component, and is used for driving the corresponding first stroke piece and second stroke piece to move in a first direction; and a translation driving component is connected between the first obstacle surmounting component and the device body, and is used for driving the first obstacle surmounting component to move in a second direction relative to the device body. The application realizes the lateral movement of the obstacle surmounting device, greatly simplifies the overall mechanical structure, reduces the manufacturing cost and the weight of the device, and is particularly suitable for small and medium-sized operation platforms.

Description

Technical Field

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

[0002] With the increasing demand for high-altitude operations such as cleaning and inspection of high-rise building curtain walls, wall-climbing robots capable of stable movement and obstacle crossing on vertical walls are crucial. For example, WO2025073285A1 discloses an automatic climbing robot that achieves curtain wall climbing by using three sets of similar lifting rails matched with corresponding quick-gel spray nozzles.

[0003] However, when faced with the need for smaller, lighter operating platforms (such as curtain wall cleaning machines with a width of approximately 2 meters), the relatively complex wall-climbing robot reveals its inherent limitations. Firstly, the multiple sets of symmetrically arranged lifting rails, designed for stability, all require complete lifting and spraying functions, resulting in a large number of drive and spraying mechanisms, a complex overall structure, high weight, and high cost, which contradicts the application requirements for small to medium-sized, lightweight systems. Secondly, the functions and movement patterns of all sets of lifting rails are highly homogenized, making the device's posture and center of gravity adjustment capabilities passive and limited during obstacle crossing. It relies entirely on a fixed program of alternating gaits, making it difficult to actively and flexibly adjust to asymmetrical obstacles or complex obstacle-crossing scenarios requiring precise center of gravity transfer, thus limiting the reliability and efficiency of obstacle crossing. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of this invention is to propose a climbing and obstacle crossing device that reduces the weight of the whole machine and reduces the manufacturing cost while taking into account the operational efficiency and reliability.

[0005] The technical solution of this invention is implemented as follows:

[0006] A climbing and obstacle-crossing device includes a device body and further includes:

[0007] A first obstacle-crossing component, located in the middle of the device body, includes a first travel member;

[0008] The second obstacle-crossing component, the number of the second obstacle-crossing components is two or more, including a second stroke component, and the second obstacle-crossing components are distributed on both sides of the device body;

[0009] The climbing drive assembly is provided on each of the first obstacle crossing assembly and each of the second obstacle crossing assembly, for driving the corresponding first stroke member and second stroke member to move along the first direction;

[0010] A translation drive assembly is connected between the first obstacle-crossing assembly and the device body, and is used to drive the first obstacle-crossing assembly to move relative to the device body along a second direction.

[0011] Preferably, the climbing drive assembly includes a limiting mechanism and a lifting mechanism. The limiting mechanism is used to limit the movement of the first travel member and the second travel member in a first direction. The lifting mechanism includes a first motor, a rope feeder driven by the first motor, and a pull rope. The first motor is fixedly connected to the limiting mechanism. The end of the pull rope is connected to the corresponding first travel member or second travel member. The inner end of the pull rope is wound around the rope feeder.

[0012] Preferably, the first obstacle-crossing component includes a movable seat disposed on the device body. The movable seat includes a transverse base slidably connected to the device body and a movable seat body disposed on the transverse base. It also includes two mounting plates extending from the movable seat body to both sides. The number of the first travel members is two, and the two first travel members are arranged in parallel, with the position of each first travel member corresponding to the position of each mounting plate. The limiting mechanism disposed on the first obstacle-crossing component includes a first slider located on the mounting plate. The first motor and rope distributor of the lifting mechanism disposed on the first obstacle-crossing component are located on the movable seat body.

[0013] Preferably, the first travel member is cylindrical in shape, and the limiting mechanism on the first obstacle-crossing assembly further includes a first slide rail located on the cylindrical first travel member. The first slide rail cooperates with the first slider to limit the movement of the first travel member along a first direction.

[0014] Preferably, the translation drive assembly includes a second motor disposed on the transverse base, the second motor being located above the movable seat body, the second motor being provided with a gear, and the device body being provided with a transverse rack at the corresponding position of the gear; the end of the pull rope of the climbing drive assembly disposed on the first obstacle crossing assembly is connected to the bottom end of the first travel member.

[0015] Preferably, the second obstacle-crossing component includes a fixed seat disposed on the device body, the fixed seat including a fixed seat body and a wing plate extending from the fixed seat body along the outer side of the device body; the limiting mechanism disposed on the second obstacle-crossing component includes a second slider located on the fixed seat body, and the first motor and rope feeder of the lifting mechanism disposed on the second obstacle-crossing component are located on the wing plate.

[0016] Preferably, the second travel member is cylindrical in shape, and the limiting mechanism on the second obstacle-crossing assembly further includes a second slide rail located on the cylindrical second travel member. The second slide rail cooperates with the second slider to limit the movement of the second travel member along the first direction.

[0017] Preferably, the main body of the device is in the shape of a crossbeam, and the climbing and obstacle-crossing device further includes guide devices on both sides of the crossbeam-shaped main body. The guide devices include a cable drive mechanism at the bottom and a boom above the cable drive mechanism. The boom and the cable drive mechanism are connected by a rotating shaft.

[0018] Preferably, the cable drive mechanism includes a cable outlet located at the top, and a pair of first guide pulleys located at the cable outlet. The top of the boom is also provided with a pair of second guide pulleys at a position corresponding to the first guide pulleys.

[0019] Preferably, the first obstacle-crossing component and the second obstacle-crossing component are located on the side of the device body close to the wall, and the device body also has a longitudinal notch on the side away from the wall, the longitudinal notch being used to arrange the working robot arm.

[0020] Preferably, the longitudinal notch penetrates the top and bottom surfaces of the device body; the working robotic arm includes a rotating base and a robotic arm body mounted on the rotating base, the device body is provided with a horizontal lateral bearing at the longitudinal notch, the rotating base is embedded in the lateral bearing, and the rotating base can rotate relative to the lateral bearing in the longitudinal plane.

[0021] Preferably, the transverse shaft seat includes a circular groove arranged opposite to each other, and the rotating base forms a columnar shell relative to the circular groove, with both ends of the columnar shell respectively embedded in the circular groove; the rotating base is also provided with a third motor, one end of the third motor is fixed to one side of the circular groove, and the other end of the third motor is fixedly connected to the columnar shell.

[0022] Preferably, the first obstacle-crossing component includes a first suction cup mechanism disposed at both ends of the first travel member, and the first suction cup mechanism includes a folding component, a driving component, and a first suction cup;

[0023] One end of the folding assembly is connected to the first travel member, and the other end of the folding assembly is mounted on the first suction cup; and

[0024] The driving component is connected to the first stroke component and configured to drive the folding assembly to perform an unfolding or folding action.

[0025] When the folding assembly unfolds, the first suction cup moves away from the first travel member; when the folding assembly folds, the first suction cup moves closer to the first travel member.

[0026] The second obstacle-crossing component includes a second suction cup mechanism located at both ends of the second travel member. The second suction cup mechanism includes a suction cup rod and a second suction cup located at the end of the suction cup rod. It also includes a timing belt assembly for driving the suction cup rod to bring the second suction cup closer to or away from the wall.

[0027] Preferably, the folding assembly includes two folding arms that are arranged opposite to each other and move synchronously. The inner connecting ends of the two folding arms are hinged to a first travel member through a first gear structure, and the outer connecting ends of the two folding arms are hinged to a first suction cup through a second gear structure. The driving member is used to drive the first gear structure of the inner connecting ends of the two folding arms.

[0028] Compared with the prior art, the embodiments of the present invention have the following advantages:

[0029] This invention employs a centrally located first obstacle-crossing component and two side-mounted second obstacle-crossing components. A climbing drive component drives the corresponding first and second stroke components along a first direction, while a translation drive component drives the first obstacle-crossing component to move relative to the device body along a second direction. This minimizes the number of obstacle-crossing components requiring complex lateral drive mechanisms to a minimum, simplifying the overall mechanical structure, reducing manufacturing costs and device weight while enabling lateral movement of the obstacle-crossing device. This makes it particularly suitable for small and medium-sized work platforms. Furthermore, by providing lateral freedom to the central first obstacle-crossing component, the device can actively and precisely adjust its overall center of gravity during obstacle crossing, thereby enhancing its ability to overcome asymmetrical obstacles and improving the dynamic stability of the obstacle-crossing process. This overcomes the shortcomings of traditional multi-unit isomorphic obstacle-crossing devices in terms of insufficient attitude adjustment capabilities. Attached Figure Description

[0030] 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.

[0031] Figure 1 This is a perspective view of the climbing and obstacle-crossing device according to an embodiment of the present invention;

[0032] Figure 2 for Figure 1 Another perspective of the 3D view, in which the robotic arm is hidden;

[0033] Figure 3 for Figure 1 A magnified view of a section at point A in the middle;

[0034] Figure 4 for Figure 2 A magnified view of a section at point B in the middle;

[0035] Figure 5 This is an exploded view of the rotating base according to an embodiment of the present invention;

[0036] Figure 6 This is an exploded view of the movable seat and surrounding parts according to an embodiment of the present invention;

[0037] Figure 7 This is a perspective view of the guiding device according to an embodiment of the present invention, in which the side cover plate of the guiding device is hidden;

[0038] Figure 8 This is a perspective view of some parts of the first obstacle-crossing component according to an embodiment of the present invention;

[0039] Figure 9 This is a perspective view of some parts of the second obstacle-crossing assembly according to an embodiment of the present invention. The view shows the climbing drive assembly, the second slider, and the second slide rail on the second obstacle-crossing assembly. Detailed Implementation

[0040] 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.

[0041] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," "third," and "fourth," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0042] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0043] Please see Figures 1 to 9 A climbing and obstacle-crossing device includes a device body 1, and further includes:

[0044] The first obstacle-crossing component 2 is located in the middle of the device body 1 and includes a first travel member 21;

[0045] The second obstacle-crossing component 3, the number of the second obstacle-crossing component 3 is two or more, including the second stroke component 31, and the second obstacle-crossing component 3 is distributed on both sides of the device body 1;

[0046] The climbing drive assembly is provided on each first obstacle crossing assembly 2 and each second obstacle crossing assembly 3, for driving the corresponding first stroke member 21 and second stroke member 31 to move along a first direction.

[0047] A translation drive assembly is connected between the first obstacle-crossing assembly 2 and the device body 1, and is used to drive the first obstacle-crossing assembly 2 to move relative to the device body 1 in a second direction.

[0048] The number of the first obstacle crossing components 2 can be one or two. When there are two first obstacle crossing components 2, both first obstacle crossing components 2 are located in the middle of the device body 1, and the second obstacle crossing components 3 are distributed on both sides of the device body 1.

[0049] As a preferred option rather than a limitation, in order to reduce production material costs and overall machine weight while ensuring operational efficiency and ease of use, the number of first obstacle-crossing components 2 in this embodiment is one, and the number of second obstacle-crossing components 3 is two; the aforementioned first stroke component 21 and second stroke component 31 can be straight rods or curved rods. In this embodiment, the first stroke component 21 and second stroke component 31 are straight rods; the device body 1 can be beam-shaped, and the width of the beam-shaped device body 1 is preferably 2000 mm. The shell of the device body 1 can be made using a mold, and the front panel and rear panel of the device body 1 are made of carbon fiber plate material, which ensures the lightweight effect of the device body 1 while meeting certain structural strength requirements.

[0050] As a preferred option rather than a limitation, the distance between the two second obstacle-crossing components 3 can be around 1000 mm, so that the fixing parts on the two sides of the second obstacle-crossing components 3 can be simultaneously adsorbed and fixed to the same window glass, which greatly expands the applicable scenarios of the climbing obstacle-crossing device of this embodiment.

[0051] As a specific solution rather than a limitation, when the device is located on a vertical wall, the first direction is a vertical direction perpendicular to the wall, and the second direction is a horizontal direction parallel to the wall.

[0052] In this embodiment, the climbing drive assembly includes a limiting mechanism and a lifting mechanism 4. The limiting mechanism is used to limit the movement of the first travel member 21 and the second travel member 31 along a first direction. The lifting mechanism 4 includes a first motor 41, a rope feeder driven by the first motor 41, and a pull rope 42. The first motor 41 is fixedly connected to the limiting mechanism. The end of the pull rope 42 is connected to the corresponding first travel member 21 or second travel member 31. The inner end of the pull rope 42 is wound around the rope feeder.

[0053] As a specific solution rather than a limitation, the aforementioned pull rope 42 can be made of steel wire rope. When the first stroke member 21 or the second stroke member 31 needs to move upward, the first motor 41 can be controlled to rotate in the forward direction, so that the steel wire rope is further wound inside the rope distributor, and the first stroke member 21 or the second stroke member 31 is pulled upward under the action of the steel wire rope; when the first stroke member 21 or the second stroke member 31 needs to move downward, the first motor 41 can be controlled to rotate in the reverse direction, so that the steel wire rope is gradually pulled out from the rope distributor, and the first stroke member 21 or the second stroke member 31 moves downward under the traction of gravity and the steel wire rope.

[0054] Compared to traditional rigid lifting drive methods such as gear racks or lead screws, the lifting mechanism 4 used in this embodiment, consisting of a first motor 41, a rope distributor, and a pull rope 42, combined with the guiding effect of a limiting mechanism, ensures that the lifting movements of the first stroke component 21 and the second stroke component 31 are rigidly guided and constrained by corresponding limiting mechanisms (such as sliders and slide rails), effectively suppressing lateral deviation and swaying, and ensuring accurate trajectory and stable posture during the lifting process. In terms of driving efficiency and structural optimization, a flexible transmission mode of "pulley + steel wire" with the motor driving the rope distributor to extend and retract the pull rope 42 replaces the complex rigid transmission chain. This mode has a simple and compact structure, fewer parts, and lighter weight, achieving reduced manufacturing costs and overall lightweighting of the climbing and obstacle-crossing device.

[0055] As a specific solution rather than a limitation, the first obstacle-crossing component 2 includes a movable seat 22 disposed on the device body 1. The movable seat 22 includes a transverse base 221 slidably connected to the device body 1 and a movable seat body 222 disposed on the transverse base 221. It also includes two mounting plates 223 extending from the movable seat body 222 to both sides. The number of first travel members 21 is two. The two first travel members 21 are arranged in parallel and the position of each first travel member 21 corresponds to the position of each mounting plate 223. The limiting mechanism disposed on the first obstacle-crossing component 2 includes a first slider 5 located on the mounting plate 223. The first motor 41 and the rope distributor of the lifting mechanism 4 disposed on the first obstacle-crossing component 2 are located on the movable seat body 222.

[0056] The above solution establishes a double-rail support structure by respectively mounting two first stroke components 21 on the mounting plates 223 on both sides of the movable seat body 222, and setting independent first sliders 5 on each mounting plate 223 to form a limiting mechanism with the corresponding first stroke component 21. This symmetrical double-point support greatly enhances the bending stiffness and torsional stability of the first obstacle-crossing component 2 when moving perpendicular to the wall (first direction), effectively preventing swaying or jamming that may occur with single-point support, and ensuring the accuracy and reliability of obstacle-crossing action based on the first obstacle-crossing component 2. Secondly, the lifting mechanism 4 (first motor 41 and rope distributor) that drives the two first stroke components 21 is integrated on the movable seat body 222, effectively avoiding collisions with the first stroke components 21 while realizing the centralization and modularization of the power source. This layout not only simplifies wiring and reduces the complexity of the transmission path and energy loss, but also makes the structure of the entire first obstacle-crossing component 2 more compact, facilitating installation, maintenance, and functional integration on the device body 1.

[0057] As a preferred option and not a limitation, the movable seat body 222 and the transverse base 221 are pivotally connected by a pivot 224. The movable seat 22 also includes a protective plate 225 disposed on the outside of the mounting plate 223. The protective plate 225 forms a mounting surface on the side opposite to the device body 1. A sway reduction and reset device 7 is disposed on the mounting surface. The sway reduction and reset device 7 includes a reset seat 71 fixed to the mounting surface and an ejector 72 disposed in the reset seat 71. The ejector 72 includes a push rod 721 driven by an elastic member and a connecting rod 722 disposed at the end of the push rod 721 and corresponding to the side shape of the transverse base 221 of the first obstacle crossing assembly 2. The connecting rod 722 abuts against the side of the transverse base 221.

[0058] With the above structure, regardless of the direction (clockwise or counterclockwise) in which the movable seat body 222 of the first obstacle-crossing component 2 rotates relative to the transverse base 221, the spring in the reset seat 71 will be compressed and elastically deformed. When the working condition factors affecting the body sway disappear, this part of the compressed spring will release elastic potential energy to drive the movable seat body 222 and the transverse base 221 to reset to the stable assembly state. That is to say, no matter how the movable seat body 222 and the transverse base 221 rotate relative to each other, after the swaying factors disappear, both can be reset. At the same time, a part of the spring is always compressed, which also shows that no matter how the movable seat body 222 and the transverse base 221 rotate relative to each other, the anti-sway reset device 7 can convert the kinetic energy of mutual rotation into elastic potential energy by compressing the spring, so as to reduce the amplitude of relative rotation. Therefore, the anti-sway reset device 7 can play a role in ensuring the reset stability and anti-sway stability of the first obstacle-crossing component 2.

[0059] Preferably, the first travel member 21 is cylindrical in shape, and the limiting mechanism on the first obstacle crossing component 2 further includes a first slide rail 6 located on the cylindrical first travel member 21. The first slide rail 6 cooperates with the first slider 5 to limit the movement of the first travel member 21 in a first direction.

[0060] The above solution achieves precise linear guidance for the lifting and lowering motion of the first stroke component 21 by setting the first slide rail 6 along the axial direction on the cylindrical first stroke component 21 and forming a high-precision sliding connection with the first slider 5 on the mounting plate 223.

[0061] As a specific solution rather than a limitation, the translation drive assembly includes a second motor 8 mounted on the transverse base 221. The second motor 8 is located above the movable seat body 222. The second motor 8 is equipped with a gear. The device body 1 is equipped with a transverse rack 101 at the corresponding position of the gear. The end of the pull rope 42 of the climbing drive assembly mounted on the first obstacle crossing assembly 2 is connected to the bottom end of the first travel member 21.

[0062] This embodiment, through the arrangement of the second motor 8, gears, and transverse rack 101, enables direct power transmission and rapid response, effectively driving the movable seat 22 with a certain mass and the first obstacle-crossing component 2 to perform precise lateral movement. Simultaneously, by connecting the end of the pull rope 42 of the lifting mechanism 4 to the bottom end of the first travel member 21, while ensuring that the second motor 8 and the pull rope 42 are positioned to avoid each other, the point of application of the pulling force is located at the end of the travel, maximizing the climbing stroke of the first travel member 21.

[0063] Preferably, the second obstacle-crossing component 3 includes a fixed seat 32 disposed on the device body 1. The fixed seat 32 includes a fixed seat body 321 and a wing plate 322 extending from the fixed seat body 321 along the outside of the device body 1. The limiting mechanism disposed on the second obstacle-crossing component 3 includes a second slider 9 located on the fixed seat body 321. The first motor 41 and the rope distributor of the lifting mechanism 4 disposed on the second obstacle-crossing component 3 are located on the wing plate 322.

[0064] In this embodiment, the wing plate 322 extends along the outer side of the device body 1, providing an independent, ample, and remote installation space away from the device body 1 while avoiding interference with the first obstacle-crossing component 2. This layout not only avoids interference between the lifting drive component and other internal mechanisms of the device body 1, but also facilitates the distribution of the overall center of gravity and the convenience of later maintenance.

[0065] Preferably, the second travel member 31 is cylindrical in shape, and the limiting mechanism on the second obstacle crossing assembly 3 further includes a second slide rail 10 located on the cylindrical second travel member 31. The second slide rail 10 cooperates with the second slider 9 to limit the movement of the second travel member 31 in the first direction.

[0066] In this embodiment, the structure and specifications of the first slider 5 and the second slider 9 can be the same, and the structure and specifications of the first slide rail 6 and the second slide rail 10 can also be the same, so as to improve the material reuse rate and reduce the production cost.

[0067] Since the climbing drive component abandons the traditional gear rack or lead screw structure, the first stroke component 21 and the second stroke component 31 no longer need to be equipped with additional racks or other structures for transmission. The first stroke component 21 and the second stroke component 31 can be made into cylindrical shapes, which reduces the material cost of the first stroke component 21 and the second stroke component 31 and further reduces the weight of the climbing obstacle crossing device.

[0068] In some embodiments of the present invention, the device body 1 is in the shape of a crossbeam, and the climbing and obstacle crossing device further includes guide devices 11 disposed on both sides of the crossbeam-shaped device body 1. The guide device 11 includes a cable drive mechanism 111 located at the bottom and a boom 112 located above the cable drive mechanism 111. The boom 112 is connected to the cable drive mechanism 111 via a rotating shaft 113.

[0069] Preferably, the cable drive mechanism 111 includes a cable outlet at the top and a pair of first guide pulleys 111a located at the cable outlet. The top of the boom 112 also has a pair of second guide pulleys 112a at positions corresponding to the first guide pulleys 111a. The bottom of the cable 12 is clamped at the pair of first guide pulleys 111a, and the middle portion is clamped at the pair of second guide pulleys 112a.

[0070] As a specific solution and not a limitation, the cable drive mechanism 111 of this embodiment includes a housing, a drive device (which may be a motor) disposed on the back of the housing, and a winding reel 111b driven by the drive device. A wire guide 111c is disposed at the outlet of the winding reel 111b, and the end of the wire guide 111c is close to the cable outlet.

[0071] In this embodiment of the invention, by positioning the boom 112 above the cable drive mechanism 111 and connecting it via the pivot 113, the force attachment point of the external traction cable 12 (i.e., at the second guide pulley 112a) is significantly raised to a higher position on the device body 1. This high attachment point design makes the torque adjustment of the external traction force on the device body 1 more sensitive, and the line of action more easily approaches or passes through the center of gravity area of ​​the device, thereby enabling more effective control and adjustment of the device's attitude in the air, greatly enhancing the stability and maneuverability during high-altitude hoisting and positioning. Simultaneously, the paired first guide pulley 111a and second guide pulley 112a constitute a redundant cable guide path, not only distributing the load of a single pulley and reducing wear, but also ensuring that the cable 12 can still be smoothly extended and retracted when the boom 112 swings, preventing the cable 12 from derailing or rubbing against structural components, thus improving the reliability and lifespan of the entire guidance system 11.

[0072] In some embodiments of the present invention, the first obstacle-crossing component 2 and the second obstacle-crossing component 3 are disposed on the side of the device body 1 near the wall, and the device body 1 is also provided with a longitudinal notch 102 on the side away from the wall, the longitudinal notch 102 being used to arrange the working robot arm 13.

[0073] The above solution achieves physical separation of functional modules and optimal space utilization by arranging the obstacle-crossing component and the robotic arm 13 on the front and rear sides (near and far from the wall) of the device body 1, respectively. This layout ensures that the adsorption, lifting, and translation actions required for obstacle-crossing operations do not interfere with the actions of the robotic arm performing cleaning and inspection tasks, greatly improving the overall efficiency and reliability of the device when performing complex tasks.

[0074] Preferably, the longitudinal notch 102 penetrates the top and bottom surfaces of the device body 1; the robotic arm 13 includes a rotating base 131 and a robotic arm body 132 mounted on the rotating base 131, the device body 1 is provided with a horizontal bearing 103 at the longitudinal notch 102, the rotating base 131 is embedded in the horizontal bearing 103, and the rotating base 131 can rotate relative to the horizontal bearing 103 in the longitudinal plane.

[0075] The above solution utilizes the longitudinal notch 102 through the main body 1 to accommodate the robotic arm 13, making highly efficient use of space. This allows the storage position of the robotic arm 13 to be integrated with the structure of the main body 1, providing a built-in and protected storage space for the large-scale robotic arm 13 while effectively controlling the overall outline size of the device.

[0076] Preferably, the transverse bearing 103 includes a circular groove 103a disposed opposite to the circular groove 103a, and the rotating base 131 forms a cylindrical outer shell 131a relative to the circular groove 103a, with both ends of the cylindrical outer shell 131a respectively embedded in the circular groove 103a; the rotating base 131 also provides a third motor 131b, one end of the third motor 131b is fixed to one side of the circular groove 103a, and the other end of the third motor 131b is fixedly connected to the cylindrical outer shell 131a. As a specific solution and not a limitation, in this embodiment, the other side of the rotating base 131 is connected to the other side of the circular groove 103a through a bearing seat 131c.

[0077] This embodiment of the invention utilizes an embedded design between the transverse bearing 103 and the rotating base 131, particularly employing a bearing-type connection formed by a circular groove 103a and a cylindrical outer shell 131a. This provides the robotic arm body 132 with stable, low-resistance pitch and rotation freedom around a horizontal axis (maximum rotation of 180° in the vertical plane). This allows the robotic arm 132 to perform cleaning or other tasks on the upper part of the device body 1 when it rotates to the upper part, and to perform cleaning or other tasks on the lower part when it rotates to the lower part. Simultaneously, the third motor 131b integrated within the rotating base 131 directly drives the cylindrical outer shell 131a to rotate. This short transmission chain, compact structure, and precise response enable the robotic arm 13 to quickly and smoothly adjust its initial pitch angle, providing the optimal angle for the working robotic arm 13 and significantly improving operational flexibility and range.

[0078] As a preferred option and not a limitation, the first obstacle-crossing component 2 includes a first suction cup mechanism 23 disposed at both ends of the first travel member 21. The first suction cup mechanism 23 includes a folding component 231, a driving component 232 and a first suction cup 233.

[0079] One end of the folding assembly 231 is connected to the joint of the first travel member 21, and the other end of the folding assembly 231 is mounted on the first suction cup 233; and

[0080] The driving component 232 is connected to the first travel component 21 and is configured to drive the folding component 231 to perform an unfolding or folding action.

[0081] When the folding assembly 231 unfolds, the first suction cup 233 moves away from the first travel member 21; when the folding assembly 231 folds, the first suction cup 233 moves closer to the first travel member 21.

[0082] In this embodiment, the first suction cup mechanism 23 adopts the form of a folding component 231, which allows the first suction cup 233 to be close to the first stroke member 21 when retracted, greatly reducing the space occupied by the mechanism in the non-working state. In particular, when the first suction cup 233 adopts a larger diameter (e.g., 300 mm), the suction force it provides is sufficient to stably support the load located in the middle of the device.

[0083] The second obstacle-crossing component 3 includes a second suction cup mechanism 33 located at both ends of the second travel member 31. The second suction cup mechanism 33 includes a suction cup rod 331 and a second suction cup 332 located at the end of the suction cup rod 331. It also includes a timing belt assembly 333 that drives the suction cup rod 331 to bring the second suction cup 332 closer to or away from the wall.

[0084] The second suction cup mechanism 33 employs a linearly driven suction cup rod 331 and a synchronous belt assembly 333, resulting in a simple and compact structure. This design provides ample lateral movement space for the robotic arm 13 in the middle of the device, effectively avoiding motion interference. Simultaneously, because the linear retraction path of the suction cup rod 331 is clearly defined, collisions between the second suction cup mechanism 33 and the robotic arm 13 during retraction are reliably avoided, improving the safety of the entire machine's collaborative operation.

[0085] As a specific solution rather than a limitation, the synchronous belt assembly 333 can employ a combination of aluminum pulleys and carbon steel gears, achieving lightweighting while ensuring transmission strength and helping to reduce manufacturing costs. The second suction cup 332 can adopt a relatively small diameter (e.g., 200 mm), further achieving lightweighting and compactness of the structure while meeting lateral support requirements.

[0086] Preferably, the folding assembly 231 includes two folding arms 231a that are arranged opposite to each other and move synchronously. The inner connecting ends of the two folding arms 231a are hinged to the first stroke member 21 through a first gear structure 231b, and the outer connecting ends of the two folding arms 231a are hinged to the first suction cup 233 through a second gear structure 231c. The driving member 232 is used to drive the first gear structure 231b of the inner connecting ends of the two folding arms 231a.

[0087] In the folding assembly 231 of this embodiment, the two folding arms 231a are synchronously hinged to the first travel member 21 and the first suction cup 233 respectively through the inner first gear structure 231b and the outer second gear structure 231c. The double gear meshing structure forcibly ensures the absolute synchronous movement of the two folding arms 231a, fundamentally preventing the first suction cup 233 from swaying or twisting left and right during the extension and retraction process, ensuring that its adsorption plane always remains parallel to the wall surface. This provides better dynamic stability and reliability for the first suction cup 233, which needs to bear the main load-bearing and posture adjustment tasks in the middle position.

[0088] Compared with the prior art, the embodiments of the present invention have the following advantages:

[0089] This invention employs a centrally located first obstacle-crossing component and two side-mounted second obstacle-crossing components. A climbing drive component drives the corresponding first and second stroke components along a first direction, while a translation drive component drives the first obstacle-crossing component to move relative to the device body along a second direction. This minimizes the number of obstacle-crossing components requiring complex lateral drive mechanisms to a minimum, simplifying the overall mechanical structure, reducing manufacturing costs and device weight while enabling lateral movement of the obstacle-crossing device. This makes it particularly suitable for small and medium-sized work platforms. Furthermore, by providing lateral freedom to the central first obstacle-crossing component, the device can actively and precisely adjust its overall center of gravity during obstacle crossing, thereby enhancing its ability to overcome asymmetrical obstacles and improving the dynamic stability of the obstacle-crossing process. This overcomes the shortcomings of traditional multi-unit isomorphic obstacle-crossing devices in terms of insufficient attitude adjustment capabilities.

[0090] 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 climbing and obstacle-crossing device, comprising a device body, characterized in that, Also includes: A first obstacle-crossing component, located in the middle of the device body, includes a first travel member; The second obstacle-crossing component, the number of the second obstacle-crossing components is two or more, including a second stroke component, and the second obstacle-crossing components are distributed on both sides of the device body; The climbing drive assembly is provided on each of the first obstacle crossing assembly and each of the second obstacle crossing assembly, for driving the corresponding first stroke member and second stroke member to move along the first direction; A translation drive assembly is connected between the first obstacle-crossing assembly and the device body, and is used to drive the first obstacle-crossing assembly to move relative to the device body along a second direction; The climbing drive assembly includes a limiting mechanism and a lifting mechanism. The limiting mechanism is used to limit the movement of the first stroke member and the second stroke member in a first direction. The lifting mechanism includes a first motor, a rope feeder driven by the first motor, and a pull rope. The first motor is fixedly connected to the limiting mechanism. The end of the pull rope is connected to the corresponding first stroke member or second stroke member. The inner end of the pull rope is wound around the rope feeder. The first obstacle-crossing component includes a movable seat mounted on the device body. The movable seat includes a transverse base slidably connected to the device body and a movable seat body mounted on the transverse base. It also includes two mounting plates extending from the movable seat body to both sides. The number of first travel members is two. The two first travel members are arranged in parallel and the position of each first travel member corresponds to the position of each mounting plate. The limiting mechanism mounted on the first obstacle-crossing component includes a first slider located on the mounting plate. The first motor and rope feeder of the lifting mechanism mounted on the first obstacle-crossing component are located on the movable seat body.

2. The climbing and obstacle-crossing device according to claim 1, characterized in that, The first travel member is cylindrical in shape, and the limiting mechanism on the first obstacle crossing assembly also includes a first slide rail located on the cylindrical first travel member. The first slide rail cooperates with the first slider to limit the movement of the first travel member along a first direction.

3. The climbing and obstacle-crossing device according to claim 2, characterized in that, The translation drive assembly includes a second motor mounted on the transverse base, the second motor being located above the movable seat body, the second motor having a gear, and the device body having a transverse rack at the corresponding position of the gear; the end of the pull rope of the climbing drive assembly mounted on the first obstacle crossing assembly is connected to the bottom end of the first travel member.

4. The climbing and obstacle-crossing device according to claim 1, characterized in that, The second obstacle-crossing assembly includes a fixed base disposed on the device body, the fixed base including a fixed base body and a wing plate extending from the fixed base body along the outer side of the device body; the limiting mechanism disposed on the second obstacle-crossing assembly includes a second slider located on the fixed base body, and the first motor and rope feeder of the lifting mechanism disposed on the second obstacle-crossing assembly are located on the wing plate.

5. The climbing and obstacle-crossing device according to claim 4, characterized in that, The second travel member is cylindrical in shape, and the limiting mechanism on the second obstacle-crossing assembly also includes a second slide rail located on the cylindrical second travel member. The second slide rail cooperates with the second slider to limit the movement of the second travel member along the first direction.

6. The climbing and obstacle-crossing device according to any one of claims 1 to 5, characterized in that, The main body of the device is in the shape of a crossbeam. The climbing and obstacle-crossing device also includes guide devices on both sides of the crossbeam-shaped main body. The guide devices include a cable drive mechanism at the bottom and a boom above the cable drive mechanism. The boom and the cable drive mechanism are connected by a pivot.

7. The climbing and obstacle-crossing device according to claim 6, characterized in that, The cable drive mechanism includes a cable outlet located at the top, and a pair of first guide pulleys located at the cable outlet. The top of the boom is also provided with a pair of second guide pulleys at a position corresponding to the first guide pulleys.

8. The climbing and obstacle-crossing device according to any one of claims 1 to 5, characterized in that, The first obstacle-crossing component and the second obstacle-crossing component are located on the side of the device body close to the wall. The device body also has a longitudinal notch on the side away from the wall, which is used to arrange the working robot arm.

9. The climbing and obstacle-crossing device according to claim 8, characterized in that, The longitudinal notch penetrates the top and bottom surfaces of the device body; the working robotic arm includes a rotating base and a robotic arm body mounted on the rotating base. The device body is provided with a horizontal shaft seat at the longitudinal notch. The rotating base is embedded in the horizontal shaft seat and can rotate relative to the horizontal shaft seat in the longitudinal plane.

10. The climbing and obstacle-crossing device according to claim 9, characterized in that, The transverse shaft seat includes a circular groove arranged opposite to each other. The rotating base has a cylindrical shell formed relative to the circular groove. Both ends of the cylindrical shell are respectively embedded in the circular groove. The rotating base is also provided with a third motor. One end of the third motor is fixed to one side of the circular groove, and the other end of the third motor is fixedly connected to the cylindrical shell.

11. The climbing and obstacle-crossing device according to any one of claims 1 to 5, characterized in that, The first obstacle-crossing component includes a first suction cup mechanism disposed at both ends of the first travel member. The first suction cup mechanism includes a folding component, a driving component, and a first suction cup. One end of the folding assembly is connected to the first travel member, and the other end of the folding assembly is mounted on the first suction cup; as well as The driving component is connected to the first stroke component and configured to drive the folding assembly to perform an unfolding or folding action. When the folding assembly unfolds, the first suction cup moves away from the first travel member; when the folding assembly folds, the first suction cup moves closer to the first travel member. The second obstacle-crossing component includes a second suction cup mechanism located at both ends of the second travel member. The second suction cup mechanism includes a suction cup rod and a second suction cup located at the end of the suction cup rod. It also includes a timing belt assembly for driving the suction cup rod to bring the second suction cup closer to or away from the wall.

12. The climbing and obstacle-crossing device according to claim 11, characterized in that, The folding assembly includes two folding arms that are arranged opposite each other and move synchronously. The inner connecting ends of the two folding arms are hinged to a first travel member through a first gear structure, and the outer connecting ends of the two folding arms are hinged to a first suction cup through a second gear structure. The driving member is used to drive the first gear structure of the inner connecting ends of the two folding arms.

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