Wall surface working robot
Patent Information
- Application Number
- CN202611236340.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-08-14
- Publication Date
- 2026-10-23
AI Technical Summary
[0003]相关技术中，爬壁机器人通常通过吊绳的牵引，实现爬壁机器人的在壁面上垂直升降与水平平移的幕墙清洁机器人，此类爬壁机器人依靠外部牵引力克服障碍，具备一定的越障能力，但在跨越横梁、窗框等突出障碍后，由于其本体惯性作用等，常发生明显晃动，导致本体姿态失稳，本体无法及时恢复平稳状态，致使作业模块与壁面表面的贴合度下降、压力分布不均，进而影响后续作业
本发明的壁面作业机器人，通过伸展臂，本体在越过障碍后快速朝向壁面方向回转，本体能够快速恢复平稳，有效避免了本体越障后出现晃动，进而使得本体在越障后能够快速进行壁面作业，以提高对壁面的作业效果。
Smart Images
Figure CN122957356A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of robotic equipment technology, and specifically relates to a wall-mounted operation robot. Background Technology
[0002] With the increasing number of high-rise buildings, bridge piers, and other large structures, the demand for wall surface cleaning, inspection, maintenance, and painting (such as glass facades and concrete walls) is becoming increasingly urgent. Traditional wall surface work relies heavily on manual labor, requiring workers to use scaffolding, suspended platforms, or ropes for high-altitude operations. This not only results in high labor intensity and low efficiency but also poses significant safety risks, such as falls and electric shocks. With the development of automation technology, wall-climbing robots have emerged as a core piece of equipment to replace manual labor in wall surface work. These robots effectively mitigate the risks of falls from heights, improving both safety and efficiency.
[0003] In related technologies, wall-climbing robots are typically curtain wall cleaning robots that use ropes to traction to achieve vertical lifting and horizontal translation on the wall surface. These wall-climbing robots rely on external traction to overcome obstacles and have a certain obstacle-crossing ability. However, after crossing protruding obstacles such as beams and window frames, they often experience significant swaying due to their own inertia, leading to instability in their posture. The robots cannot recover to a stable state in time, resulting in a decrease in the fit between the working module and the wall surface and uneven pressure distribution, which in turn affects subsequent operations. Summary of the Invention
[0004] To address the problems existing in the prior art, the present invention provides a wall-mounted robot. The technical problem to be solved by the present invention is: how to reduce the shaking of the wall-mounted robot after it overcomes obstacles and achieve rapid recovery of stability.
[0005] To achieve the above objectives, the present invention adopts the following technical solution: A wall-mounted robot, comprising: ontology; The working mechanism is disposed on the main body and is used to perform work on the wall or overcome obstacles; A hoisting rope is provided on the main body and is used to pull the main body to move on the wall so that the working mechanism can perform work on the wall or overcome obstacles; An extension arm, one end of which is connected to the body, and the other end of which extends along the length of the suspension rope to form a free end; the free end of the extension arm is provided with a guide component, which is configured to: clamp at least part of the suspension rope onto the extension arm, and the suspension rope clamped onto the extension arm can move along the length of the extension arm.
[0006] In the aforementioned wall-mounted robot, when the robot overcomes an obstacle, the extendable arm is perpendicular to the main body, and the suspension rope clamped in the extendable arm is parallel to the extendable arm.
[0007] In the aforementioned wall-mounted robot, when the robot overcomes an obstacle, the working mechanism moves along the obstacle; the suspension rope forms a bending point at the guide assembly. The angle between the suspension rope and the wall at the bending point of the extended arm is θ; the straight-line distance from the guide assembly to the working mechanism is L; the weight of the wall-working robot is G; and the torque acting on the wall-working robot is... .
[0008] In the aforementioned wall-mounted robot, the guiding assembly includes a first roller, a second roller, and a fixing block; The first roller and the second roller are spaced apart at the free end of the extension arm, forming a guide gap between the first roller and the second roller, and the suspension rope is threaded through the guide gap; the fixing block is located on the side of the first roller and the second roller away from the extension arm.
[0009] In the aforementioned wall-working robot, the main body is provided with a connecting seat, and the extended arm is provided with a rotating part away from the free end, the rotating part being rotatably connected to the connecting seat.
[0010] In the aforementioned wall-mounted robot, the working mechanism includes a drive assembly and at least one telescopic rod; The drive assembly is mounted on the body; the telescopic rod is vertically disposed on the body and slidably connected to the body; the drive assembly is used to drive the telescopic rod to slide relative to the body toward or away from the wall surface. When the wall-mounted robot overcomes an obstacle, the drive assembly adjusts the length of the telescopic rod extending from the main body so that the distance between the main body and the wall is greater than or equal to the height of the obstacle, in conjunction with the suspension rope to enable the wall-mounted robot to overcome the obstacle.
[0011] In the aforementioned wall-mounted robot, the drive assembly includes a drive motor and a drive gear; The drive motor is mounted on the main body, and the drive gear is mounted on the output shaft of the drive motor; the telescopic rod is provided with a rack, and the drive gear meshes with the rack.
[0012] In the above-mentioned wall-mounted robot, the telescopic rod is provided with a slide rail, and the main body is provided with a slider that is adapted to the slide rail; The telescopic rod is slidably connected to the body by the cooperation of the slide rail and the slider.
[0013] In the aforementioned wall-mounted robot, a working component is provided at the end of the telescopic rod closest to the wall. When the wall-mounted robot is working, the working component is in contact with the wall to perform work on the wall; when the wall-mounted robot is crossing an obstacle, the working component comes into contact with the obstacle, and the length of the telescopic rod extending out of the body is adjusted by the drive component, which, together with the suspension rope, enables the wall-mounted robot to cross obstacles.
[0014] In the aforementioned wall-mounted robot, the wall-mounted robot further includes a roller brush mechanism; The roller brush mechanism is located on the side of the body facing the wall, and the roller brush mechanism is used to perform roller brushing operations on the wall.
[0015] The beneficial effects of this invention are: The wall-working robot of the present invention extends its arm, and after passing over an obstacle, the main body quickly rotates back towards the wall. The main body can quickly regain stability, effectively avoiding shaking after passing the obstacle. This allows the main body to quickly perform wall work after passing the obstacle, thereby improving the working effect on the wall. Attached Figure Description
[0016] Figure 1 This is a structural diagram of a wall-mounted robot. Figure 2 for Figure 1 Enlarged view of section A in the middle; Figure 3 for Figure 1 Enlarged view of section B; Figure 4 This is a schematic diagram of a wall-mounted robot overcoming obstacles. Figure 5 A schematic diagram of the structure when the extension arm clamps the suspension rope; Figure 6 This is a structural diagram showing the connection between the working mechanism and the main body; Figure 7 This is a schematic diagram of the working mechanism.
[0017] In the diagram, 100 is the main body; 110 is the connecting seat; 120 is the slider; 200 is the working mechanism; 210 is the drive assembly; 211 is the drive motor; 212 is the drive gear; 220 is the telescopic rod; 221 is the rack; 222 is the slide rail; 223 is the working component; 300 is the hoisting rope; 400 is the extension arm; 410 is the guide assembly; 411 is the first roller; 412 is the second roller; 413 is the fixing block; 420 is the rotating part; 500 is the roller brush mechanism; 510 is the main roller brush; and 520 is the auxiliary roller brush. Detailed Implementation
[0018] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.
[0019] In the description of the embodiments, it should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.
[0020] In the description of the embodiments, it should be noted that when a component / part is referred to as being "set on" another component / part, it can be directly set on the other component / part or there may be an intervening component / part. When a component / part is referred to as being "connected / joined" to another component / part, it can be directly connected / joined to the other component / part or there may be an intervening component / part. The term "connected / joined" as used herein can include mechanical physical connections / joinings. The term "comprising / including" as used herein refers to the presence of a feature, step, or component / part, but does not exclude the presence or addition of one or more other features, steps, or components / parts. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.
[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. Furthermore, in the description of this application, the terms "first," "second," etc., are used for descriptive purposes and to distinguish similar objects only; there is no order between them, nor should they be construed as indicating or implying relative importance. Additionally, in the description of this application, unless otherwise stated, "a plurality of" means two or more.
[0022] In related technologies, wall-mounted robots experience significant swaying after crossing obstacles such as beams and window frames due to their inertia, leading to instability. If the robot cannot quickly regain stability, the contact between the working module and the wall surface decreases, resulting in uneven pressure distribution, which in turn affects subsequent operations and reduces the effectiveness of wall work. Therefore, this invention provides a wall-mounted robot to solve the swaying problem after obstacle crossing, enabling the robot to quickly regain stability and improve wall work efficiency.
[0023] like Figure 1-5 As shown, this embodiment provides a wall-working robot, including a body 100, a working mechanism 200, a suspension rope 300, and an extension arm 400. The working mechanism 200 is disposed on the body 100 and is used to perform wall work or overcome obstacles. The suspension rope 300 is disposed on the body 100 and is used to pull the body 100 to move on the wall so that the working mechanism 200 can perform wall work or overcome obstacles. One end of the extension arm 400 is connected to the body 100, and the other end extends along the length direction of the suspension rope 300 to form a free end. The free end of the extension arm 400 is provided with a guide component 410, which is configured to clamp at least part of the suspension rope 300 onto the extension arm 400, and the portion of the suspension rope 300 clamped onto the extension arm 400 can move along the length direction of the extension arm 400.
[0024] It should be noted that the wall-mounted robot can be applied to wall-mounted operations such as cleaning, inspection, maintenance, and painting. For example, this embodiment uses the application of the wall-mounted robot to wall cleaning as an example. The main body 100 is usually used with the hoisting rope 300 and the working mechanism 200 to achieve overall movement and obstacle crossing on the wall, and the working mechanism 200 can be used to perform tasks such as cleaning the wall.
[0025] The extendable arm 400 is typically long and narrow. It can be made of high-strength alloys, steel, or other composite materials. The extendable arm 400 can be formed from a single piece of material or assembled from multiple components, such as multiple longitudinally and transversely arranged tubular materials. One end of the extendable arm 400 is connected to the main body 100, and the other end extends along the length of the suspension rope 300. This end is the free end, meaning that theoretically, the length of the extendable arm 400 can extend indefinitely along the suspension rope 300. In practice, to avoid making the wall-mounted robot too large, the length of the extendable arm 400 is usually no greater than the length of the main body 100. The specific length of the extendable arm 400 can be set according to actual needs.
[0026] In this embodiment, a guide component 410 is provided at the free end of the extension arm 400. This guide component 410 can clamp a portion of the suspension rope 300 onto the extension arm 400, and the portion of the suspension rope 300 clamped onto the extension arm 400 can move along the length of the extension arm 400. When the wall-mounted robot is crossing an obstacle, the working mechanism 200 abuts against the obstacle, and the suspension rope 300 forms a bending point at the guide component 410. That is, when the wall-mounted robot is crossing an obstacle, the bending point is equivalent to the fulcrum of the swing of the main body 100, and the extension arm 400 is equivalent to the lever arm of the main body 100 acting on the fulcrum. Due to the presence of the extension arm 400, the main body 100 experiences a large torque. That is, under the action of this torque, the main body 100 can quickly rotate towards the wall along the bending point after crossing the obstacle, and the main body 100 can quickly regain stability, effectively avoiding swaying of the main body 100 after crossing the obstacle. This allows the main body 100 to quickly perform wall operations after crossing the obstacle, thereby improving the working effect on the wall.
[0027] Of course, the wall-mounted robot will also vibrate relative to the wall when it moves on the wall. The vibration will cause the main body 100 to slightly detach from the wall. However, due to the presence of the extension arm 400, the main body 100 is subjected to torque during vibration, which makes the main body 100 fit better against the wall, greatly reducing the vibration of the wall-mounted robot during movement, thereby improving the working effect of the wall-mounted robot working mechanism 200 on the wall.
[0028] like Figure 1 and 4 As shown, when the wall-mounted robot overcomes an obstacle, the extension arm 400 is perpendicular to the body 100, and the suspension rope 300 clamped in the extension arm 400 is parallel to the extension arm 400.
[0029] In this embodiment, when the wall-mounted robot overcomes an obstacle, the extendable arm 400 and the main body 100 are arranged perpendicularly. For example, the direction of the extendable arm 400 is along the height direction of the wall, while the main body 100 is along the width direction of the wall. The two are perpendicular to each other. The suspension rope 300 clamped in the extendable arm 400 is parallel to the extendable arm 400. In this way, the main body 100 obtains the maximum lever arm so that the torque on the main body 100 is as large as possible. This allows the main body 100 to rotate towards the wall more quickly after the wall-mounted robot overcomes the obstacle and quickly fits the wall, avoiding the shaking of the main body 100.
[0030] like Figure 1 and 4As shown, when the wall-mounted robot overcomes an obstacle, the working mechanism 200 moves along the obstacle; the suspension rope 300 forms a bend point at the guide assembly 410; the angle between the suspension rope 300 and the wall at the bend point on the extended arm 400 is θ; the straight-line distance from the guide assembly 410 to the working mechanism 200 is L; the weight of the wall-mounted robot is G; and the torque acting on the wall-mounted robot is... .
[0031] When the wall-mounted robot overcomes an obstacle, the working mechanism 200 moves along the obstacle surface, while the main body 100 moves away from the wall. At this time, the suspension rope 300 bends at the guide component 410, forming a bending point. This bending point is equivalent to the fulcrum for the rotation of the main body 100. The straight-line distance from the guide component 410 to the working mechanism 200 is the lever arm. Therefore, the torque experienced by the wall-mounted robot is... As can be seen from the above formula, the longer extension arm 400 can subject the wall-mounted robot to a larger torque. This allows the wall-mounted robot to quickly turn back towards the wall along the bending point after overcoming the obstacle, so that the wall-mounted robot can quickly return to a stable state.
[0032] like Figure 1 , 2 As shown in Figure 5, the guide assembly 410 includes a first roller 411, a second roller 412, and a fixing block 413; the first roller 411 and the second roller 412 are spaced apart at the free end of the extension arm 400, forming a guide gap between the first roller 411 and the second roller 412, and the suspension rope 300 passes through the guide gap; the fixing block 413 is located on the side of the first roller 411 and the second roller 412 away from the extension arm 400.
[0033] In this embodiment, the suspension rope 300 is threaded through the guide gap between the first roller 411 and the second roller 412. The movement of the suspension rope 300 allows the wall-mounted robot to move on the wall surface. The movement of the suspension rope 300 also drives the first roller 411 and the second roller 412 to roll, thus reducing the friction between the suspension rope 300 and the first roller 411 and the second roller 412. In addition, the fixing block 413 is fixedly disposed on the side of the first roller 411 and the second roller 412 away from the extension arm 400. The fixing block 413 fixes the first roller 411 and the second roller 412 together. When the wall-mounted robot crosses an obstacle, the suspension rope 300 can smoothly bend on the first roller 411 and the second roller 412 to form a bending point.
[0034] like Figure 1 and 3As shown, the main body 100 is provided with a connecting seat 110, and the extension arm 400 is provided with a rotating part 420 away from the free end, and the rotating part 420 is rotatably connected to the connecting seat 110.
[0035] Considering the need for easy storage of the wall-mounted robot after it completes its work, the rotating part 420 of the extendable arm 400 is rotatably connected to the connecting seat 110 of the main body 100. When storage is required, the extendable arm 400 is rotated towards the main body 100 so that it is close to the main body 100, avoiding the extendable arm 400 occupying too much space and thus facilitating the storage of the wall-mounted robot. Specifically, the rotation between the connecting seat 110 and the rotating part 420 can be achieved by a pin passing through the connecting seat 110 and the rotating part 420.
[0036] like Figure 1 , 6 As shown in Figure 7, the working mechanism 200 includes a drive assembly 210 and at least one telescopic rod 220; the drive assembly 210 is mounted on the body 100; the telescopic rod 220 is vertically arranged on the body 100 and slidably connected to the body 100; the drive assembly 210 is used to drive the telescopic rod 220 to slide relative to the body 100 toward or away from the wall surface; when the wall-working robot overcomes an obstacle, the drive assembly 210 adjusts the length of the telescopic rod 220 extending out of the body 100 so that the distance between the body 100 and the wall surface is greater than or equal to the height of the obstacle, in conjunction with the suspension rope 300 to enable the wall-working robot to overcome the obstacle.
[0037] The drive assembly 210 is installed inside the body 100. The telescopic rod 220 is slidably connected to the body 100 and is perpendicular to the body 100. That is, the telescopic rod 220 can extend or shorten relative to the side of the body 100 that is in contact with the wall. The drive assembly 210 can drive the telescopic rod 220 to slide relative to the body 100. In other words, the length of the extension of the telescopic rod 220 on the side of the body 100 that is in contact with the wall can be adjusted by the drive assembly 210.
[0038] When the wall-mounted robot is working, one end of the main body 100 and the telescopic rod 220 is close to the wall to perform the work. When the wall-mounted robot needs to overcome an obstacle, the hoisting rope 300 moves the entire wall-mounted robot to a position close to the obstacle. The drive component 210 drives the telescopic rod 220 to shorten the distance that the telescopic rod 220 extends from the side of the main body 100 closest to the wall. The end of the telescopic rod 220 is at the same height as the obstacle. The hoisting rope 300 moves the entire wall-mounted robot so that the end of the telescopic rod 220 is on the obstacle and abuts against the obstacle. Then, the drive component 210 drives the telescopic rod 220 to shorten the distance that the telescopic rod 220 extends from the side of the main body 100 closest to the wall. The main body 100 moves away from the wall until the height of the main body 100 is equal to or higher than the obstacle. At this point, the hoisting rope 300 moves the entire wall-mounted robot to overcome the obstacle. Preferably, the distance the body 100 moves away from the wall is equal to the height of the obstacle. In this way, when the suspension rope 300 moves the wall-working robot, the body 100 can slide along the surface of the obstacle. After sliding past the obstacle, it can directly work on the wall on the other side of the obstacle.
[0039] like Figure 6 and 7 As shown, the drive assembly 210 includes a drive motor 211 and a drive gear 212; the drive motor 211 is mounted on the body 100, and the drive gear 212 is mounted on the output shaft of the drive motor 211; the telescopic rod 220 is provided with a rack 221, and the drive gear 212 meshes with the rack 221.
[0040] In order to adjust the length of the telescopic rod 220 extending out of the body 100, in this embodiment, the drive gear 212 installed on the output shaft of the drive motor 211 meshes with the rack 221 installed on the telescopic rod 220. When it is necessary to adjust the extension length of the telescopic rod 220, the drive motor 211 is started to drive the movement of the telescopic rod 220, thereby adjusting the extension length of the telescopic rod 220.
[0041] like Figure 6 and 7 As shown, considering that the telescopic rod 220 slides more smoothly relative to the body 100, in this embodiment, the telescopic rod 220 is provided with a slide rail 222, and the body 100 is provided with a slider 120 adapted to the slide rail 222; the slide rail 222 and the slider 120 cooperate to realize the telescopic rod 220 slidingly connected to the body 100, ensuring that the telescopic rod 220 slides more smoothly.
[0042] like Figure 1 , 6As shown in Figure 7, a working component 223 is provided at one end of the telescopic rod 220 near the wall surface. When the wall-working robot is working, the working component 223 is in contact with the wall surface to perform work on the wall surface. When the wall-working robot overcomes an obstacle, the working component 223 abuts against the obstacle, and the length of the telescopic rod 220 extending out of the main body 100 is adjusted by the drive component 210, which, together with the suspension rope 300, enables the wall-working robot to overcome obstacles.
[0043] Considering that one end of the telescopic rod 220 is close to the wall when the wall-mounted robot is working, in order to improve work efficiency, a working component 223 is installed at the end of the telescopic rod 220 that is close to the wall. This working component 223 not only provides the work requirements when the wall-mounted robot is working, which can further improve work efficiency, but also forms a larger attachment point on the wall or obstacle when the wall-mounted robot is crossing obstacles, providing a larger force point for the telescopic rod 220, thereby ensuring the stability of the wall-mounted robot when crossing obstacles and effectively preventing the wall-mounted robot from tilting when crossing obstacles.
[0044] like Figure 6 and 7 As shown, in some embodiments, the working component 223 is a scraper, which is installed at one end of the telescopic rod 220 near the wall surface; when the wall-working robot is working, the scraper is in contact with the wall surface to perform cleaning operations; when the wall-working robot crosses an obstacle, the scraper abuts against the obstacle to adjust the distance between the main body 100 and the obstacle.
[0045] like Figure 6 and 7 As shown, in some embodiments, in order to further improve the stability of the wall-mounted robot when crossing obstacles, the telescopic mechanism includes two telescopic rods 220. The two telescopic rods 220 are synchronously driven by the drive motor 211 to slide relative to the body 100. When the wall-mounted robot crosses an obstacle, the two telescopic rods 220 can simultaneously abut against the obstacle and simultaneously lift the body 100, ensuring that the body 100 is more stable when it is raised relative to the obstacle.
[0046] like Figure 1 As shown, the wall-working robot also includes a roller brush mechanism 500; the roller brush mechanism 500 is disposed on the side of the body 100 facing the wall, and the roller brush mechanism 500 is used to perform roller brushing operations on the wall.
[0047] In this embodiment, the roller brush mechanism 500 may include a main roller brush 510 and auxiliary roller brushes 520 disposed on both sides of the main roller brush 510. The main roller brush 510 can perform roller brush cleaning operations on the wall surface, while the auxiliary roller brushes 520 on both sides can clean objects on both sides (such as glass side frames) to improve cleaning efficiency.
[0048] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications and substitutions should be covered within the scope of the claims of the present invention.
Claims
1. A wall-mounted robot, characterized in that, include: Ontology(100); The working mechanism (200) is disposed on the body (100) and is used for working on the wall or overcoming obstacles; A hoisting rope (300) is provided on the body (100) for pulling the body (100) to move on the wall so that the working mechanism (200) can perform work on the wall or overcome obstacles; An extension arm (400) is provided, one end of which is connected to the body (100), and the other end extends along the length direction of the suspension rope (300) to form a free end; the free end of the extension arm (400) is provided with a guide component (410), which is configured to clamp at least part of the suspension rope (300) onto the extension arm (400), and the suspension rope (300) clamped on the extension arm (400) can move along the length direction of the extension arm (400).
2. The wall-mounted robot according to claim 1, characterized in that, When the wall-mounted robot overcomes an obstacle, the extension arm (400) is perpendicular to the body (100), and the suspension rope (300) clamped in the extension arm (400) is parallel to the extension arm (400).
3. The wall-mounted robot according to claim 2, characterized in that, When the wall-mounted robot overcomes an obstacle, the working mechanism (200) moves along the obstacle; the suspension rope (300) forms a bend at the guide assembly (410); The angle between the suspension rope (300) located on the extension arm (400) and the wall at the bending point is θ; the straight-line distance from the guide assembly (410) to the working mechanism (200) is L; the gravity of the wall-working robot is G; and the torque acting on the wall-working robot is... .
4. The wall-mounted robot according to claim 1, characterized in that, The guide assembly (410) includes a first roller (411), a second roller (412), and a fixing block (413). The first roller (411) and the second roller (412) are spaced apart at the free end of the extension arm (400), and a guide gap is formed between the first roller (411) and the second roller (412). The suspension rope (300) passes through the guide gap. The fixing block (413) is located on the side of the first roller (411) and the second roller (412) away from the extension arm (400).
5. The wall-mounted robot according to claim 1, characterized in that, The main body (100) is provided with a connecting seat (110), and the extension arm (400) is provided with a rotating part (420) away from the free end, and the rotating part (420) is rotatably connected to the connecting seat (110).
6. The wall-mounted robot according to any one of claims 1-5, characterized in that, The working mechanism (200) includes a drive assembly (210) and at least one telescopic rod (220). The drive assembly (210) is mounted on the body (100); the telescopic rod (220) is vertically disposed on the body (100) and slidably connected to the body (100); the drive assembly (210) is used to drive the telescopic rod (220) to slide relative to the body (100) toward or away from the wall surface; When the wall-mounted robot overcomes an obstacle, the drive assembly (210) adjusts the extension rod (220) to extend beyond the body (100) so that the distance between the body (100) and the wall is greater than or equal to the height of the obstacle, in conjunction with the suspension rope (300) to enable the wall-mounted robot to overcome the obstacle.
7. The wall-mounted robot according to claim 6, characterized in that, The drive assembly (210) includes a drive motor (211) and a drive gear (212). The drive motor (211) is mounted on the body (100), and the drive gear (212) is mounted on the output shaft of the drive motor (211); the telescopic rod (220) is provided with a rack (221), and the drive gear (212) meshes with the rack (221).
8. The wall-mounted robot according to claim 7, characterized in that, The telescopic rod (220) is provided with a slide rail (222), and the body (100) is provided with a slider (120) adapted to the slide rail (222). The telescopic rod (220) is slidably connected to the body (100) by the cooperation of the slide rail (222) and the slider (120).
9. The wall-mounted robot according to claim 6, characterized in that, The telescopic rod (220) is provided with a working component (223) at one end near the wall. When the wall-mounted robot is working, the working component (223) is in contact with the wall to perform work on the wall; when the wall-mounted robot overcomes an obstacle, the working component (223) comes into contact with the obstacle, and the length of the telescopic rod (220) extending out of the main body (100) is adjusted by the drive component (210), and the hanging rope (300) is used to realize the obstacle-crossing of the wall-mounted robot.
10. The wall-mounted robot according to claim 6, characterized in that, The wall-working robot also includes a roller brush mechanism (500). The roller brush mechanism (500) is disposed on the side of the body (100) facing the wall, and the roller brush mechanism (500) is used to perform roller brushing operations on the wall.