Wall surface working equipment

Abstract

The utility model relates to the technical field of mobile robots, in particular to wall surface operation equipment. The wall surface operation equipment comprises a wall surface moving device and an executing mechanism, and the executing mechanism is connected with the wall surface moving device. The wall surface moving device comprises a first moving module, a traction module, a second moving module and a connecting assembly. The traction module is connected with the first movement module, the second movement module is suitable for being adsorbed to the wall face and can move relative to the wall face, and the execution mechanism is connected with the second movement module. The first movement module and the second movement module can move relatively at least in the extension direction of the traction rope. The wall surface moving device forms a split type structure through the first movement module and the second movement module, the execution mechanism is connected with the second movement module, the first movement module and the second movement module can move relatively, the situation that the execution mechanism is driven to move when a traction rope rebounds is avoided, and the continuity of the operation process of wall surface operation equipment is guaranteed; and the safety of the wall surface operation equipment in the operation process is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mobile robots, in particular to a wall operation device. Background Art

[0002] Wall working equipment can be used for cleaning, spraying and other work on surfaces with large verticality such as glass curtain walls. In the related art, a traction rope is usually used to traction and protect the movement of the wall working equipment. However, during the movement, due to the influence of the wall moving device's own weight, the traction rope produces elastic deformation, resulting in the wall working equipment moving a certain distance. The traction rope rebounds and causes the wall working equipment to move unexpectedly, affecting the continuity and smoothness of the wall working equipment. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the related art. To this end, the utility model provides a wall operation equipment, including: a wall moving device and an actuator, the actuator is connected to the wall moving device, the actuator is in contact with the wall or maintains a predetermined distance from the wall to operate, wherein the wall moving device includes: a first motion module;

[0004] a traction module, comprising a traction rope extending from the high side of the wall to the bottom side thereof, the traction module being connected to the first motion module to drive the first motion module to rise and fall relative to the wall in a direction parallel to the wall; a second motion module, the second motion module being adapted to be adsorbed on the wall and capable of moving relative to the wall, the actuator being connected to the second motion module; and

[0005] A connecting component connects the first motion module and the second motion module so that the first motion module and the second motion module can move relative to each other at least in the extending direction of the traction rope.

[0006] The wall working equipment provided by the utility model forms a split structure of the wall moving device through the first motion module and the second motion module, the actuator is connected to the second motion module, and the first motion module and the second motion module can move relatively, so as to avoid displacement of the actuator when the traction rope rebounds, thereby ensuring the smoothness and continuity of the operation process of the wall working equipment and improving the safety of the operation process of the wall working equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0008] Figure 1 It is one of the three-dimensional diagrams of the wall moving device provided by the utility model;

[0009] Figure 2 This is the second stereoscopic diagram of the wall moving device provided by the utility model;

[0010] Figure 3 It is a structural schematic diagram of the wall moving device provided by the utility model;

[0011] Figure 4 This is one of the operation schematic diagrams of the wall moving device provided by the utility model;

[0012] Figure 5 This is the second operation schematic diagram of the wall moving device provided by the utility model;

[0013] Figure 6 This is the third stereogram of the wall moving device provided by the utility model;

[0014] Figure 7 It is a schematic flow chart of the wall movement method of the wall moving device provided by the utility model;

[0015] Figure 8 This is the fourth stereogram of the wall moving device provided by the utility model;

[0016] Fig. 9 This is the fifth stereogram of the wall moving device provided by the utility model;

[0017] Fig.10 This is one of the schematic diagrams of the motion process of the wall moving device provided by the utility model;

[0018] Fig.11 This is the second schematic diagram of the motion process of the wall moving device provided by the utility model;

[0019] Fig.12 This is the third schematic diagram of the motion process of the wall moving device provided by the utility model;

[0020] Fig.13 This is the fourth schematic diagram of the motion process of the wall moving device provided by the utility model;

[0021] Fig.14This is the fifth schematic diagram of the motion process of the wall moving device provided by the utility model;

[0022] Fig.15 This is the sixth schematic diagram of the motion process of the wall moving device provided by the utility model;

[0023] Fig.16 This is the sixth stereogram of the wall moving device provided by the utility model;

[0024] Fig.17 This is the seventh stereoscopic diagram of the wall moving device provided by the utility model;

[0025] Fig.18 This is the eighth stereogram of the wall moving device provided by the utility model;

[0026] Fig.19 yes Fig.18 A partial enlarged view of the middle A;

[0027] Fig. 20 This is the ninth stereogram of the wall moving device provided by the utility model;

[0028] Fig.21 This is the tenth stereogram of the wall moving device provided by the utility model;

[0029] Fig. 22 This is the seventh schematic diagram of the motion process of the wall moving device provided by the utility model;

[0030] Fig.23 This is the eighth schematic diagram of the motion process of the wall moving device provided by the utility model;

[0031] Fig.24 This is one of the schematic diagrams of the wall moving device provided by the utility model walking on the wall;

[0032] Fig.25 This is the second schematic diagram of the wall moving device provided by the utility model moving on the wall;

[0033] Fig.26 It is a side schematic diagram of the wall moving device provided by the utility model moving on the wall.

[0034] Reference numerals:

[0035] 100, wall moving device; 110, first motion module; 111, turntable; 112, traction rope; 113, wire-retracting and releasing device; 114, connecting arm; 115, retracting and releasing assembly; 116, cable; 117, rope climbing device; 120, second motion module; 121, support frame; 122, first suction cup assembly; 124, first lifting drive assembly; 125, second suction cup assembly; 127, second lifting drive assembly;

[0036] 130. Beam; 131. First leg; 132. First lifting device; 133. Second leg; 134. Second lifting device; 135. First angle drive device; 136. Obstacle detection module; 137. Position detection module; 138. Travel drive assembly; 139. Travel wheel; 140. Main body; 141. Negative pressure suction cup assembly; 142. Travel assembly; 150. Connecting assembly; 151. Slide groove; 152. Sliding block; 153. Connecting rod; 154. Ball pin; 155. Pivot shaft; 200. Actuator; 210. Wall; 220. Obstacle. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described clearly and completely in conjunction with the drawings in the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0038] Combine the following Figure 1-Figure 26 The utility model is described in detail.

[0039] See also Fig.25 and Fig.26 As shown, the wall operation equipment according to the embodiment of the utility model includes a wall moving device 100 and an actuator 200, the actuator 200 is connected to the wall moving device 100, the actuator 200 is in contact with the wall 210 or maintains a predetermined distance with the wall 210 to operate, and the wall moving device 100 can drive the actuator 200 to move on the wall 210. The wall 210 includes the facade of a high-rise building such as a glass curtain wall.

[0040] See also Figure 1 As shown, the wall moving device 100 according to the embodiment of the present utility model includes a first motion module 110 , a traction module, a second motion module 120 and a connecting assembly 150 .

[0041] Specifically, the traction module includes a traction rope 112 extending from the high side of the wall 210 to the bottom side thereof. The traction module is connected to the first motion module 110 to drive the first motion module 110 to rise and fall relative to the wall 210 in a direction parallel to the wall 210. The second motion module 120 is suitable for being adsorbed on the wall 210 and can move relative to the wall 210, and the actuator 200 is connected to the second motion module 120. The connecting assembly 150 connects the first motion module 110 and the second motion module 120, so that the first motion module 110 and the second motion module 120 can move relative to each other at least in the extending direction of the traction rope 112. During the movement of the wall moving device 100, the distance between the first motion module 110 and the second motion module 120 is variable. The first motion module 110 and the second motion module 120 can move independently of each other within a certain range.

[0042] It is understandable that due to the effect of the gravity of the wall working equipment itself, the reaction of the traction force applied by the traction module to the first motion module 110 and other factors, the traction rope 112 produces elastic deformation, and the traction rope 112 rebounds during the movement of the wall working equipment. When the wall working equipment is an integral structure, the rebound of the traction rope 112 will cause the entire wall working equipment to move, which will interrupt the operation of the wall working equipment and even cause the wall working equipment to collide and be damaged. By setting the wall moving device 100 as a split structure, that is, the wall moving device 100 is set as a first motion module 110 and a second motion module 120, and the first motion module 110 and the second motion module 120 are connected by the connecting assembly 150, so that the two can move relative to each other in the extension direction of the traction rope 112, the actuator 200 is connected to the second motion module 120. Thus, the traction rope 112 rebounds and drives the first motion module 110 to move. Under the action of the connecting component 150, the first motion module 110 moves relative to the second motion module 120. The movement of the first motion module 110 will not cause the second motion module 120 to be displaced, thereby ensuring the accuracy of the motion control of the second motion module 120 and avoiding dragging of the actuator 200 and causing operation interruption.

[0043] According to the wall working equipment of the embodiment of the utility model, the wall moving device 100 forms a split structure through the first motion module 110 and the second motion module 120, the actuator 200 is connected to the second motion module 120, and the first motion module 110 and the second motion module 120 can move relatively, so as to avoid the actuator 200 being displaced when the traction rope 112 rebounds, thereby ensuring the smoothness and continuity of the operation process of the wall working equipment and improving the safety of the operation process of the wall working equipment.

[0044] See also Fig.24 and Fig.25As shown, according to some embodiments of the utility model, the wall operation equipment further includes a connecting arm 114, which is suitable for connecting with the actuator 200, and the connecting arm 114 is used to drive the actuator 200 to fit with the surface of the wall 210 or to maintain a predetermined distance with the wall 210. The distance between the actuator 200 and the wall 210 can be adjusted by the connecting arm 114, so that the actuator 200 can cross obstacles or adapt to the operation mode of the actuator 200.

[0045] In some embodiments, the actuator 200 includes a combination of one or more of a cleaning device, a spraying device, and a detection device. For example, the actuator 200 is a glass cleaning robot, which can be adsorbed on the wall surface 210 by negative pressure and can move relative to the wall surface 210 to clean the wall surface 210. Alternatively, the actuator 200 can be provided with a scraper and a spraying device at the same time. During the operation, according to the operation sequence of the scraper and the spraying device, the actuator 200 is adjusted to fit the wall surface 210 or maintain a certain distance through the connecting arm 114. The glass cleaning robot 200 can be fixedly connected to the connecting arm 114, and the glass cleaning robot 200 moves synchronously with the wall obstacle crossing device 100.

[0046] According to some embodiments of the utility model, the connecting arm 114 is detachably connected to the actuator 200, so that during the operation, the actuator 200 can be separated from the wall moving device 100 to operate within a certain range, which can reduce the amount of movement of the wall moving device 100 and reduce energy consumption on the one hand; on the other hand, according to the operating environment, the actuator 200 can be switched to move alone to operate, or the actuator 200 and the wall moving device 100 can be switched to move synchronously to operate, and the operation mode is more flexible and more adaptable. In some embodiments, one end of the connecting arm 114 is swingably connected to the second motion module 120 to adjust the distance between the actuator 200 and the wall 210 by swinging, and the connecting arm 114 can have at least two movable joints to increase the freedom of movement of the connecting arm 114 to improve the flexibility of movement.

[0047] In some embodiments, a clamp is provided at the other end of the connecting arm 114, and the clamp is detachably connected to the actuator 200. When the wall operation equipment needs to cross an obstacle, the actuator 200 is connected to the clamp, and the connecting arm 114 lifts the actuator 200, and the actuator 200 is driven to cross the obstacle by the movement of the wall moving device 100; when the actuator 200 operates on the wall 210, such as spraying, cleaning, etc., the actuator 200 is separated from the clamp, and the actuator 200 can move relative to the wall 210 within a certain range, and the wall moving device 100 can remain in place. After the actuator 200 completes the operation on the nearby area, the actuator 200 can move to connect with the clamp. For example, Fig.25 and Fig.26 As shown, when the actuator 200 is a glass cleaning robot, when the wall operation equipment encounters a glass block connection with a protrusion during cleaning on the glass wall 210, the actuator 200 is connected to the connecting arm 114, and the connecting arm 114 lifts the actuator 200 to a certain height from the wall 210, and then moves through the wall moving device 100 to overcome the obstacle. After overcoming the obstacle, the connecting arm 114 moves the actuator 200 to contact the wall 210, and at this time, the actuator 200 can be controlled to separate from the connecting arm 114 to clean the wall 210 within a certain range.

[0048] In some other possible embodiments, the connecting arm 114 and the actuator 200 can also be detachably connected by magnetic attraction. More specifically, two magnets with opposite polarities can be used, and the two are respectively fixed on the connecting arm 114 and the actuator 200. The connection between the two is achieved by magnetic attraction, and the two can be separated by independently driving the connecting arm 114 or the actuator 200 to move. Of course, the two magnetic blocks with opposite magnetic properties can also be replaced by electromagnets and magnets (or ferromagnetic blocks).

[0049] like Fig.25 As shown, according to some embodiments of the utility model, the connecting arm 114 is further provided with a retractable assembly 115 and a cable 116, the cable 116 is wound around the retractable assembly 115, the cable 116 is connected to the actuator 200, and after the actuator 200 is separated from the connecting arm 114, it still remains connected to the cable 116, which can play a role in protection and falling prevention. During the movement of the actuator 200 on the wall 210, the retractable assembly 115 can automatically reel or release the cable 116. In some embodiments, the cable 116 includes an electric wire to power the actuator 200; or, the cable 116 includes a pipeline to provide fluid to the actuator 200, the fluid includes gas or liquid, or the fluid includes gas and liquid; or, the cable 116 can include electric wires and pipelines.

[0050] According to some embodiments of the present invention, the connection assembly 150 includes a first matching structure and a second matching structure respectively disposed on the first motion module 110 and the second motion module 120, wherein the first matching structure is connected to the first motion module 110, and the second matching structure is connected to the second motion module 120. The first matching structure and the second matching structure are slidably matched with each other, so that the first motion module 110 can slide relative to the second motion module 120.

[0051] In some embodiments, the first matching structure is one of the slider 152 and the slide groove 151, the second matching structure is the other of the slider 152 and the slide groove 151, and the slider 152 and the slide groove 151 are slidably matched; or the first matching structure is one of the slider 152 and the slide rail, the second matching structure is the other of the slider 152 and the slide rail, and the slider 152 and the slide rail are slidably matched. Figure 1 In the example, the first matching structure is a slide groove 151, which extends along the extension direction of the traction rope 112, and the second matching structure is a slider 152, which is embedded in the slide groove 151 and can slide along the slide groove 151. In some embodiments, a distance detection module is provided at the end of at least one of the slide groove 151 and the slider 152 to detect the relative distance between the first motion module 110 and the second motion module 120. For example, the distance detection module includes a detection probe and a marker, the detection probe can be set in the slide groove 151, the marker can be set on the slider 152, and the position of the marker is obtained by the detection probe. Specifically, the detection probe can be a photoelectric detection probe such as an infrared or laser detector, and can also be a wire displacement sensor or other sensors that can detect the distance between two objects.

[0052] According to some embodiments of the utility model, the first motion module 110 is rotatably connected to the second motion module 120. During the movement of the wall-moving device 100, the first motion module 110 is rotatable relative to the second motion module 120, thereby increasing the relative freedom of movement between the first motion module 110 and the second module 120. The advantage of such a configuration is that even if the traction rope 112 deviates from the vertical direction, since the first motion module 110 and the second motion module 120 can pivot, the second motion module 120 can still move independently of the first motion module 110, making it possible for it to move along a predetermined motion trajectory (such as the vertical direction); and since the first motion module 110 and the second motion module 120 can rotate relative to each other, the second motion module 120 can rotate an angle to adjust the moving path when moving along the wall 210 to perform possible obstacle avoidance operations.

[0053] According to some embodiments of the present invention, there is at least one rotational axis of rotational freedom between the first motion module 110 and the second motion module 120 along a direction perpendicular to the wall surface 210. That is, the first motion module 110 rotates relative to the second motion module 120 in a plane parallel to the wall surface 210, so that when the wall surface 210 moving device 100 moves away from the extension direction of the traction rope 112 (for example, moves in the horizontal direction of the wall surface 210), the first motion module 110 can rotate relative to the second motion module 120 on a plane parallel to the wall surface 210.

[0054] In some embodiments, the connection assembly 150 further includes a third matching structure and a fourth matching structure, the third matching structure and the fourth matching structure are pivotally connected, and the central axis thereof is perpendicular to the wall 210, one of the third matching structure and the fourth matching structure is connected to the first matching structure, and the other of the third matching structure and the fourth matching structure is connected to the first motion module 110. Alternatively, one of the third matching structure and the fourth matching structure is connected to the second matching structure, and the other of the third matching structure and the fourth matching structure is connected to the second motion module 120. In other words, one of the rotating structure formed by the third matching structure and the fourth matching structure and the moving structure formed by the first matching structure and the second matching structure is connected to the first motion module 110, and the other is connected to the second motion module 120. Thus, the first motion module 110 can move relative to the second motion module 120 in the extension direction of the traction rope 112, and can also rotate relative to the second motion module 120 on a plane parallel to the wall 210. There are at least two degrees of freedom of movement between the first motion module 110 and the second motion module 120, which improves the flexibility of the first motion module 110 and reduces the influence of the direction of the traction rope 112 on the movement of the second motion module 120.

[0055] According to some embodiments of the present invention, the third matching structure is one of the pivot shaft 155 and the shaft hole, and the fourth matching structure is the other of the pivot shaft 155 and the shaft hole, and the pivot shaft 155 and the shaft hole are rotatably connected. Figure 2 In the example, the first matching structure is a slide groove 151, the second matching structure is a slider 152, the third matching structure is an axial hole and is disposed on the slider 152, and the fourth matching structure is a pivot shaft 155, which is disposed on the second motion module 120.

[0056] See also Figure 3 As shown, according to some embodiments of the utility model, the connecting assembly 150 includes a connecting rod 153 and two ball pins 154 respectively arranged at both ends of the connecting rod 153, wherein one ball pin 154 is rotationally connected to the first motion module 110, and the other ball pin 154 is rotationally connected to the second motion module 120, thereby increasing the relative freedom of movement between the first motion module 110 and the second motion module 120, further improving the flexibility of the first motion module 110, and reducing the influence of the traction rope 112 on the second motion module 120.

[0057] See also Figure 5 and Fig.16As shown, according to some embodiments of the present invention, the traction module further includes a rope climbing device 117, wherein the rope climbing device 117 is disposed on the first motion module 110, the rope climbing device 117 clamps the traction rope 112 and can move relative to the traction rope 112 along the extension direction of the traction rope 112, and the first motion module 110 can move along the traction rope 112 through the rope climbing device 117. Figure 1 and Figure 8 As shown, in some embodiments, a turntable 111 is provided on the first motion module 110, and the turntable 111 is rotatable relative to the first motion module 110. The rope climbing device 117 is arranged on the turntable 111, which is conducive to keeping the traction force provided to the first motion module 110 in the vertical direction, so as to improve the overall flexibility of the first motion module 110 and the second motion module 120.

[0058] Furthermore, the first motion module 110 may be equipped with supply devices such as a water tank and a battery to supply water, electricity, etc. to the first motion module 110 and the second motion module 120 .

[0059] See also Figure 4 As shown, according to some embodiments of the present invention, the traction module further includes a wire-retracting device 113, wherein the wire-retracting device 113 is disposed on the high side of the wall surface 210, the traction rope 112 is wound around the wire-retracting device 113, and the movable end of the traction rope 112 is connected to the first motion module 110, and the traction rope 112 drives the first motion module 110 to rise and fall in a direction parallel to the wall surface 210 as the wire-retracting device 113 moves. The wire-retracting device 113 may be a winch.

[0060] See also Figure 8 and Fig. 9 As shown, according to some embodiments of the utility model, the second motion module 120 includes a support frame 121, a first suction cup assembly 122, a first translation drive assembly, a second suction cup assembly 125, and a second translation drive assembly. Specifically, the support frame 121 is connected to the first motion module 110 through a connecting assembly 150, and the first suction cup assembly 122 is slidably connected to the support frame 121, and the first suction cup assembly 122 can at least slide relative to the support frame 121 in a direction parallel to the wall surface 210 and along a direction parallel to the high side of the wall surface 210 toward the bottom side. At least the first suction cup assembly 122 is provided with at least the first suction cup, so that the first suction cup assembly 122 can be adsorbed on the wall surface 210 or desorbed from the wall surface 210. The first translation drive assembly is arranged on the support frame 121 and connected to the first suction cup assembly 122, and can drive the first suction cup assembly 122 to slide relative to the support frame 121.

[0061] The second suction cup assembly 125 is slidably connected to the support frame 121. The second suction cup assembly 125 can slide relative to the support frame 121 at least in a direction parallel to the wall surface 210 and along the direction from the high side to the bottom side parallel to the wall surface 210. The second suction cup assembly 125 is provided with at least one suction cup. The second suction cup assembly 125 can be adsorbed on the wall surface 210 or desorbed from the wall surface 210. The second translation drive assembly is disposed on the support frame 121 and connected to the second suction cup assembly 125 to drive the second suction cup assembly 125 to slide relative to the support frame 121. It can act independently of the first translation drive assembly, so that the first suction cup assembly 122 and the second suction cup assembly 125 can move independently of each other, and the first suction cup assembly 122 and the second suction cup assembly 125 slide alternately relative to the support frame 121 to move.

[0062] like Fig. 9 As shown, in some embodiments, two groups of first suction cup assemblies 122 and one group of second suction cup assemblies 125 are provided on the second motion module 120, wherein the two groups of first suction cup assemblies 122 are arranged at intervals, the second suction cup assembly 125 is arranged between the two groups of first suction cup assemblies 122, and the movement track of the second suction cup assembly 125 passes through the two groups of first suction cup assemblies 122. Therefore, during the alternating movement of the first suction cup assembly 122 and the second suction cup assembly 125, the stability of the second motion module 120 can be ensured.

[0063] According to some embodiments of the present invention, the second motion module 120 further includes a first lifting drive assembly 124 and a second lifting drive assembly 127, wherein the first lifting drive assembly 124 and the second lifting drive assembly 127 are respectively connected to the first suction cup assembly 122 and the second suction cup assembly 125 to respectively drive the first suction cup assembly 122 and the second suction cup assembly 125 to rise and fall relative to the support frame 121. Specifically, Fig.10 As shown, the first lifting assembly is connected to the first suction cup assembly 122 to drive the first suction cup assembly 122 to lift relative to the support frame 121 in a direction perpendicular to the wall surface 210; the second lifting assembly is connected to the second suction cup assembly 125 to drive the second suction cup assembly to lift relative to the support frame 121 in a direction perpendicular to the wall surface 210. The first lifting assembly and the second lifting assembly can be a scissor arm structure or a telescopic rod structure.

[0064] See also Fig.16 and Fig.18As shown, according to some embodiments of the present invention, the second motion module 120 includes a beam 130, a first angle driving device 135, a second angle driving device, a first lifting device 132, a second lifting device 134, and a first leg 131 and a second leg 133 respectively connected to the beam 130. Specifically, the beam 130 is connected to the first motion module 110 via a connecting assembly 150, the first leg 131 is provided at one end of the beam 130, and the second leg 133 is provided at the other end of the beam 130.

[0065] like Fig.19 As shown, the first angle driving device 135 is connected to the first leg 131 to drive the first leg 131 to rotate relative to the cross beam 130, and the second angle driving device is connected to the second leg 133 to drive the second leg 133 to rotate relative to the cross beam 130. The first leg 131 and the second leg 133 move independently of each other, and the rotation axis of the first leg 131 and the rotation axis of the second leg 133 are both perpendicular to the wall 210. The movement of the second motion module 120 is achieved by driving the first leg 131 and the second leg 133 to rotate alternately. The wall obstacle surmounting device 100 is provided with an obstacle detection module 136, which can be arranged on the first leg 131 to detect obstacles in the moving direction of the second motion module 120. The obstacle detection module 136 is used to detect obstacle information, and the obstacle information includes at least one of the height value and width value of the obstacle and the distance between the obstacle 220 and the wall obstacle surmounting device 100. The first leg 131 may further be provided with a position detection module 137 for detecting the relative distance between the first motion module 110 and the second motion module 120 .

[0066] The first lifting device 132 is connected to the first leg 131 to drive the first leg 131 to be lifted and lowered in a direction perpendicular to the wall 210. The second lifting device 134 is connected to the second leg 133 to drive the second leg 133 to be lifted and lowered in a direction perpendicular to the wall 210. Thus, during walking, obstacles can be crossed by alternately driving the first leg 131 or the second leg 133 to be lifted and lowered in a direction perpendicular to the wall 210.

[0067] See also Fig. 20 and Fig.21As shown, in some embodiments, the second motion module 120 further includes a travel drive assembly 138, which is disposed on the side of the beam 130 facing the wall 210 and between the first leg 131 and the second leg 133. The travel drive assembly 138 can drive the second motion module 120 to walk along the wall 210. The travel drive assembly 138 has two sets of travel wheels 139 arranged at intervals, and the travel wheels 139 are fitted with the wall 210 for movement, and the travel wheels 139 can be track wheels. When the second motion module 120 walks on the wall 210, the first leg 131 and the second leg 133 can provide negative pressure adsorption force to adsorb on the wall 210, and the travel wheels 139 can provide driving force to drive the second motion module 120 to walk on the wall 210. When encountering an obstacle 220 , the first leg 131 and the second leg 133 are driven to extend by the first lifting device 132 and the second lifting device 134 , so that the crossbeam 130 and the travel drive assembly 138 are lifted and away from the wall 210 to overcome the obstacle.

[0068] See also Figure 6 As shown, according to some embodiments of the present invention, the second motion module 120 includes a main body 140, a negative pressure suction cup assembly 141 and a walking assembly 142. The main body 140 is connected to the first motion module 110 through a connecting assembly 150, and the negative pressure suction cup assembly 141 is disposed on the side of the main body 140 facing the wall 210, and is configured to be adsorbed on the wall 210 and can slide relative to the wall 210. The negative pressure suction cup assembly 141 can generate a negative pressure adsorption force to be adsorbed on the wall 210, and can slide along the wall 210 by adjusting the negative pressure adsorption force. The walking assembly 142 is disposed on the main body 140, and is configured to be in contact with the wall 210, and drive the main body 140 and the negative pressure suction cup assembly 141 to move relative to the wall 210. The second motion module 120 is adsorbed on the wall 210 through the negative pressure suction cup assembly 141, and moves on the wall 210 driven by the walking assembly 142. Figure 6 In the example, the walking component 142 is a track wheel, and the walking component 142 can be two groups. The two groups of walking components 142 are arranged at intervals in a direction perpendicular to the moving direction of the second motion module 120. There are multiple groups of negative pressure suction cup components 141, and the multiple groups of negative pressure suction cup components 141 are arranged in an array and are all located between the two groups of walking components 142.

[0069] See also Figure 7 As shown, Figure 7The flowchart is a schematic diagram of the wall movement method of the wall movement device 100. According to the wall movement method of the embodiment of the utility model, the wall movement method is based on the wall movement device 100 as described above, and the wall movement method includes: S1.1: Determine that the wall movement device 100 is in walking mode, and control one of the first movement module 110 and the second movement module 120 to move a first distance along a first set direction. S1.2: Obtain the relative distance between the first movement module 110 and the second movement module 120. S1.3.1: If it is determined that the relative distance is within the set range, jump to the step of controlling one of the first movement module 110 and the second movement module 120 to move a first distance along the first set direction. S1.3.2: If it is determined that the relative distance is not within the set range, control the other of the first movement module 110 and the second movement module 120 to move a second distance along the first set direction.

[0070] According to some embodiments of the utility model, before step S1.1, it also includes: S0: obtaining surface protrusion height information of the wall 210 in the first set direction, determining that the protrusion height value in the surface protrusion height change information is greater than or equal to a preset critical value, and determining that the distance from the second motion module 120 to the surface protrusion is less than or equal to the preset distance value, and the wall moving device 100 enters the obstacle crossing mode; and, determining that the protrusion height value is less than the preset critical value, and the wall moving device 100 enters the walking mode.

[0071] See also Figure 7 As shown, according to some embodiments of the present utility model, the wall movement method further includes:

[0072] S2.1: Determine that the wall-moving device 100 is in the obstacle crossing mode, and control the first part of the structure of the second motion module 120 (such as the first leg 131 or the first suction cup assembly 122 in the above embodiment) to move to a first height away from the wall 210, and the first height value is greater than the protrusion height value. S2.2: Obtain the protrusion width value of the wall 210 along the first set direction. S2.3: Control the first part of the structure of the second motion module 120 to move a third distance relative to the wall 210 along the first set direction, and the third distance is greater than the sum of the protrusion width value and the distance from the second motion module 120 to the surface protrusion. S2.4: Control the first part of the structure of the second motion module 120 to approach the wall 210 and fit it.

[0073] S2.5: Control the second part structure of the second motion module 120 (such as the second leg 133 or the second suction cup assembly 125 in the above embodiment) to move to a second height away from the wall 210, and move a fourth distance along the first set direction relative to the wall 210, wherein the second height value is greater than the protrusion height value, and the fourth distance is greater than the sum of the protrusion width value and the distance from the second motion module 120 to the surface protrusion.

[0074] S2.6: Control the second part of the structure of the second motion module 120 to approach and fit the wall surface 210 .

[0075] See also Figures 10 to 15 As shown, the arrow in the figure indicates the movement direction of the wall moving device 100, that is, the first set direction. Fig.10 As shown, when the protrusion height value in the surface protrusion height change information is greater than or equal to the preset critical value, and the distance between the second motion module 120 and the surface protrusion is greater than the preset distance value, the wall moving device 100 enters the walking mode. The second suction cup assembly 125 is controlled to be adsorbed on the wall 210, and the first suction cup assembly 122 is controlled to move a distance relative to the support frame 121 along the first set direction.

[0076] like Fig.11 As shown, at this time, the distance between the second motion module 120 and the surface protrusion is less than or equal to the preset spacing value, and the wall moving device 100 enters the obstacle crossing mode. Fig.12 As shown, the first suction cup assembly 122 is controlled to be adsorbed on the wall surface 210, and the second lifting drive assembly 127 is controlled to drive the second suction cup assembly 125 to lift to a first height to be away from the wall surface 210, and the first height is greater than the height of the surface protrusion. Fig.13 As shown, the second suction cup assembly 125 is controlled to move a third distance relative to the support frame 121 along the first set direction, and the second suction cup assembly 125 moves to the front side of the first suction cup assembly 122. The second lifting drive assembly 127 is controlled to drive the second suction cup assembly 125 to move toward the wall 210.

[0077] like Fig.14 As shown, after the second suction cup assembly 125 is adsorbed on the wall surface 210, the first lifting drive assembly 124 is controlled to drive the first suction cup assembly 122 to rise to a second height. Fig.15 As shown, the second suction cup assembly 125 is controlled to move a fourth distance relative to the support frame 121 along the first set direction. Then, the first lifting drive assembly 124 is controlled to drive the first suction cup assembly 122 to move toward the wall 210. The second motion module 120 completes crossing the obstacle.

[0078] See also Fig. 22 and Fig.23 As shown, Fig.23 The solid line in represents the current position of the second motion module 120 , and the dotted line represents the position of the second motion module 120 before it moves to the current position.

[0079] like Fig.23 Small Figure 2 or Fig. 22 Small Figure 1 As shown in a, in the first setting direction (such as Fig.23 and Fig. 22 If there is a protruding obstacle 220 in the upward direction (in the middle), and the distance between the second motion module 120 and the obstacle 220 is less than or equal to the preset spacing value, the wall moving device 100 enters the obstacle crossing mode. Fig. 22 Small Figure 1 As shown in FIG. 2 b, the second leg 133 is controlled to be adsorbed on the wall 210, and the first lifting device 132 is controlled to drive the first leg 131 to be lifted to a first height.

[0080] like Fig.23 Small Figure 2 b or Fig. 22 Small Figure 1 As shown in FIG. 3 , the second angle driving device is controlled to drive the cross beam 130 to rotate the first angle A1 relative to the second leg 133, so as to drive the first leg 131 to move a third distance along the first set direction. Fig. 22 Small Figure 1 As shown in FIG. d , after the first leg 131 moves a third distance along the set direction, the first lifting device 132 is controlled to drive the first leg 131 to move toward the wall 210 , and the first leg 131 is adsorbed on the wall 210 . Fig. 22 Small Figure 1 As shown in FIG. 5 , the second lifting device 134 is controlled to drive the second leg 133 to rise to a second height so as to be away from the wall 210. Fig.23 Small Figure 2 c or Fig. 22 Small Figure 1 As shown in FIG. 5 , the first angle driving device 135 is controlled to drive the cross beam 130 to rotate the second angle A2 relative to the first leg 131, so as to drive the second leg 133 to move a fourth distance along the first set direction. Fig. 22 Small Figure 1 As shown in FIG. 6 , after the second leg 133 moves along the first set direction by a fourth distance to cross the obstacle 220, the second lifting device 134 is controlled to drive the second leg 133 to move toward the wall 210, and the second leg 133 is adsorbed on the wall 210, and the second motion module 120 completes crossing the obstacle 220. Fig.23 Small Figure 2 As shown in FIG. d, after the second motion module 120 crosses the obstacle 220, when there is no obstacle 220 in the first set direction, the wall moving device 100 enters the walking mode.

[0081] According to some embodiments of the present invention, after step S2.3, the method further includes:

[0082] S2.7: Obtain the relative distance between the first motion module 110 and the second motion module 120 .

[0083] S2.8.1: When it is determined that the relative distance is within the set range, the step of controlling the first part of the second motion module 120 to approach and fit the wall 210 is executed.

[0084] S2.8.2: If it is determined that the relative distance is not within the set range, control the first movement module 110 to move a fifth distance along the first set direction until it is determined that the relative distance is within the set range.

[0085] According to some embodiments of the present invention, after step S2.5, the method further includes:

[0086] S2.9: Obtaining a relative distance between the first motion module 110 and the second motion module 120;

[0087] S2.10.1: When it is determined that the relative distance is within the set range, the step of controlling the second part of the second motion module 120 to approach the wall 210 and fit the wall 210 is executed;

[0088] S2.10.2: If it is determined that the relative distance is not within the set range, control the first movement module 110 to move a sixth distance along the first set direction until it is determined that the relative distance is within the set range.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A wall working equipment, characterized in that: The invention comprises a wall moving device (100) and an actuator (200), wherein the actuator (200) is connected to the wall moving device (100), and the actuator (200) is in contact with a wall (210) or maintains a predetermined distance with the wall (210) to perform operation, wherein the wall moving device (100) comprises: A first motion module (110); A traction module, comprising a traction rope (112) extending from the high side of the wall surface (210) to the bottom side thereof, the traction module being connected to the first motion module (110) to drive the first motion module (110) to rise and fall relative to the wall surface (210) in a direction parallel to the wall surface (210); a second motion module (120), the second motion module (120) being adapted to be adsorbed on a wall surface (210) and being movable relative to the wall surface (210), the actuator (200) being connected to the second motion module (120); and A connecting component (150) is provided, wherein the connecting component (150) connects the first motion module (110) and the second motion module (120), so that the first motion module (110) and the second motion module (120) can move relative to each other at least in the extension direction of the traction rope (112).

2. The wall working equipment according to claim 1, characterized in that: The wall working equipment further comprises a connecting arm (114), wherein the connecting arm (114) is suitable for connecting with the actuator (200) and is used for driving the actuator (200) to fit with the surface of the wall (210) or to maintain a predetermined distance with the wall (210).

3. The wall working equipment according to claim 2, characterized in that: The connecting arm (114) is detachably connected to the actuator (200).

4. The wall working equipment according to claim 3, characterized in that: The connecting arm (114) is provided with a retractable assembly (115) and a cable (116). The cable (116) is wound around the retractable assembly (115), and the cable (116) is connected to the actuator (200).

5. The wall working equipment according to claim 4, characterized in that: The cable (116) includes wires and / or pipes for providing power and / or fluid to the actuator (200).

6. The wall working equipment according to claim 1, characterized in that: The actuator (200) is a glass cleaning robot, which can be adsorbed on the wall surface (210) by negative pressure and can move relative to the wall surface (210) to clean the wall surface (210).

7. The wall working equipment according to claim 1, characterized in that: The connection assembly (150) comprises a first matching structure and a second matching structure, the first matching structure is connected to the first motion module (110), the second matching structure is connected to the second motion module (120), and the first matching structure and the second matching structure are slidably matched with each other.

8. The wall working equipment according to claim 7, characterized in that: The first motion module (110) is rotatably connected to the second motion module (120).

9. The wall working equipment according to claim 8, characterized in that: There is at least one degree of rotational freedom between the first motion module (110) and the second motion module (120), and the rotation axis is along a direction perpendicular to the wall surface (210).

10. The wall working equipment according to claim 8, characterized in that: The connecting assembly (150) comprises a connecting rod (153) and two ball pins (154) respectively arranged at two ends of the connecting rod (153), wherein one of the ball pins (154) is rotationally connected to the first motion module (110), and the other ball pin (154) is rotationally connected to the second motion module (120).

11. The wall working equipment according to claim 1, characterized in that: The second motion module (120) comprises: a support frame (121); A first suction cup assembly (122), the first suction cup assembly (122) being connected to the support frame (121), and the first suction cup assembly (122) being capable of being adsorbed on a wall surface (210) or being desorbed from the wall surface (210); a first translation drive assembly, the first translation drive assembly being arranged on the support frame (121) and connected to the first suction cup assembly (122), the first translation drive assembly being used for driving the first suction cup assembly (122) to slide relative to the support frame (121); a second suction cup assembly (125), the second suction cup assembly (125) being connected to the support frame (121), the second suction cup assembly (125) being capable of being adsorbed on the wall surface (210) or being desorbed from the wall surface (210); and A second translation drive assembly, wherein the second translation drive assembly is arranged on the support frame (121) and connected to the second suction cup assembly (125), the second translation drive assembly is used to drive the second suction cup assembly (125) to slide relative to the support frame (121), and the second translation drive assembly can move independently of the first translation drive assembly.

12. The wall working equipment according to claim 11, characterized in that: The second motion module (120) further includes a first lifting drive component (124) and a second lifting drive component (127), wherein the first lifting drive component (124) and the second lifting drive component (127) are respectively connected to the first suction cup component (122) and the second suction cup component (125) to respectively drive the first suction cup component (122) and the second suction cup component (125) to rise and fall relative to the support frame (121).

13. The wall working equipment according to claim 1, characterized in that: The second motion module (120) comprises: a crossbeam (130), the crossbeam (130) being connected to the first motion module (110) via the connecting assembly (150); a first leg (131) and a second leg (133) respectively connected to the crossbeam (130); a first angle driving device (135) and a second angle driving device, wherein the first angle driving device (135) is connected to the first leg (131) to drive the first leg (131) to rotate relative to the crossbeam (130), and the second angle driving device is connected to the second leg (133) to drive the second leg (133) to rotate relative to the crossbeam (130), and the rotation axis of the first leg (131) and the rotation axis of the second leg (133) are both perpendicular to the wall surface (210); and A first lifting device (132) and a second lifting device (134), wherein the first lifting device (132) is connected to the first leg (131) to drive the first leg (131) to be lifted or lowered in a direction perpendicular to the wall surface (210), and the second lifting device (134) is connected to the second leg (133) to drive the second leg (133) to be lifted or lowered in a direction perpendicular to the wall surface (210).

14. The wall working equipment according to claim 1, characterized in that: The second motion module (120) comprises: Subject (140); A negative pressure suction cup assembly (141) is disposed on a side of the main body (140) facing the wall surface (210), and is configured to be adsorbed on the wall surface (210) and to be able to slide relative to the wall surface (210); The walking assembly (142) is disposed on the main body (140) and is configured to fit the wall surface (210) and drive the main body (140) and the negative pressure suction cup assembly (141) to move relative to the wall surface (210).

15. The wall working equipment according to claim 1, characterized in that: The traction module further comprises a rope climbing device (117), wherein the rope climbing device (117) is arranged on the first motion module (110), and the rope climbing device (117) clamps the traction rope (112) and is movable relative to the traction rope (112) along an extension direction of the traction rope (112).

16. The wall working equipment according to claim 1, characterized in that: The traction module further comprises a wire-reeling and retracting device (113), wherein the wire-reeling and retracting device (113) is arranged on the high side of the wall surface (210), the traction rope (112) is wound around the wire-reeling and retracting device (113), and the movable end of the traction rope (112) is connected to the first motion module (110), and drives the first motion module (110) to rise and fall in a direction parallel to the wall surface (210) as the wire-reeling and retracting device (113) moves.

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