A traction type multi-legged obstacle crossing robot for curtain wall cleaning

Abstract

This utility model discloses a towed multi-legged obstacle-crossing robot for curtain wall cleaning, belonging to the technical field of curtain wall cleaning robots. It includes a robot torso, independent stepping-driven obstacle-crossing units, and a towed-driven moving unit. The stepping-driven obstacle-crossing unit includes feet located on the front and rear sides of the robot torso, each foot including a movable thigh and lower leg. The towed-driven moving unit is used to tow the robot torso along an external rope. This towed multi-legged obstacle-crossing robot aims to solve the technical problems of existing wheeled or tracked robots in curtain wall cleaning operations, such as low obstacle-crossing ability and efficiency, insufficient posture stability, and susceptibility to collisions with obstacles leading to structural damage. It enables the robot to balance posture stability, obstacle-crossing ability, and cleaning efficiency.

Description

Technical Field

[0001] This utility model belongs to the technical field of curtain wall cleaning robots, and specifically relates to a towed multi-legged obstacle-crossing robot for curtain wall cleaning. Background Technology

[0002] According to their mode of movement, existing mainstream robots can be roughly divided into wheeled, tracked or legged robots. Among them, legged robots have high mobility and movement efficiency, so they are mostly used for walking on the ground. For example, quadruped robots with dog-like or horse-like limb structures mostly achieve autonomous movement through gait control of four legs. For curtain wall cleaning applications, the robot's posture stability determines the cleaning effect. Therefore, most of the existing robots used for curtain wall cleaning are wheeled or tracked robots. However, these wheeled or tracked robots have relatively low mobility and need to overcome gravity when climbing along the curtain wall surface, resulting in extremely low obstacle-crossing ability and efficiency. This leads to a long operation cycle for curtain wall cleaning and also makes them prone to collisions with obstacles, causing structural damage.

[0003] Therefore, existing technologies need to be improved and developed. Utility Model Content

[0004] The purpose of this invention is to provide a towed multi-legged obstacle-crossing robot for curtain wall cleaning, which aims to solve the technical problems of existing wheeled or tracked robots in curtain wall cleaning operations, such as low obstacle-crossing ability and efficiency, insufficient posture stability, and easy collision with obstacles leading to structural damage. This allows the robot to balance posture stability, obstacle-crossing ability, and cleaning efficiency.

[0005] In the first aspect, this utility model provides a towed multi-legged obstacle-crossing robot for curtain wall cleaning, including a robot torso, and also includes an independent stepping-driven obstacle-crossing part and a towed-driven moving part. The stepping obstacle-crossing unit is mounted on the robot's torso and includes feet located on the front and rear sides of the robot's torso for supporting the robot's torso. Each foot includes a movable thigh and a lower leg. The thigh and lower leg of the same foot are rotatably connected to form the knee joint of the foot, so that the foot can achieve obstacle-crossing movement. The traction-driven moving part is mounted on the robot's torso and is used to move the robot's torso by connecting it to an external rope.

[0006] The towed multi-legged obstacle-crossing robot for curtain wall cleaning provided by this utility model separates the driving mechanism for moving the robot and the driving mechanism for crossing obstacles into two independent parts. This allows the robot to focus more on the overall body posture stability when the legs make stride movements, thereby effectively solving the technical problems of low obstacle-crossing ability and efficiency, insufficient posture stability, and easy collision with obstacles leading to structural damage in existing curtain wall cleaning robots, and achieving unexpected technical results.

[0007] Furthermore, the knee joints on both the front and back sides of the feet face outwards to form a horse-like limb structure.

[0008] Furthermore, each foot also includes a lower leg drive device and a transmission device. The lower leg drive device is connected to the lower leg through the transmission device; the lower leg drive device is used to drive the movement of the lower leg.

[0009] Furthermore, the transmission device specifically includes any one or more combinations of synchronous belts, gears, connecting rods, chains, and electric cylinders.

[0010] Furthermore, the transmission device is specifically a synchronous belt; each foot also includes a synchronous belt adjustment device, which includes a first fixing part, an adjustment part, a positioning part, and a first auxiliary roller. The first auxiliary roller is rotatably connected to the positioning part and can be rolled with the synchronous belt; the adjustment part is screwed onto the first fixing part and the screwing depth is adjustable, and the end of the adjustment part abuts against the positioning part; the adjustment part is used to drive the positioning part to move the first auxiliary roller closer to or away from the synchronous belt by adjusting the screwing depth with the first fixing part.

[0011] Furthermore, the lower leg end is equipped with a replaceable contact module that can make contact with the external curtain wall.

[0012] Furthermore, the contact module is specifically any one or more combinations of flexible wheels, vacuum chucks, magnetic chucks, power wheels, and track wheels.

[0013] Furthermore, the contact module is specifically a flexible wheel, which has multiple hollowed-out units arranged in a circular pattern.

[0014] Furthermore, the traction drive moving part is provided with a safety mechanism, which includes a first buffer device, a second fixing part, and a second auxiliary roller. The first buffer device is connected to one end of the second fixing part so that the other end of the second fixing part forms a cantilever structure. The second auxiliary roller is rotatably connected to the cantilever structure. The second auxiliary roller can be rolledly connected to an external rope. The first buffer device is used to absorb the pressure and impact force exerted by the external rope on the second auxiliary roller.

[0015] Furthermore, the safety mechanism also includes a position sensor located on the same side of the first buffer device and capable of contacting the cantilever structure.

[0016] Furthermore, a second buffer device is provided on the side of the position sensor facing away from the cantilever structure. The second buffer device is used to absorb the pressure and impact force exerted on the position sensor by the cantilever structure.

[0017] Furthermore, the safety mechanism also includes an encoder, which can be rolled to an external rope and is used to determine whether the traction drive moving part is pulling normally.

[0018] Furthermore, the safety mechanism also includes a torsion spring, which is connected to the encoder and used to apply pressure to the encoder to keep it in contact with the external rope.

[0019] Furthermore, the traction drive moving part also includes a traction machine module, which includes a traction machine and an integrated waterproof cover surrounding the traction machine.

[0020] As can be seen from the above, the towed multi-legged obstacle-crossing robot for curtain wall cleaning provided by this utility model effectively solves the technical problems of low obstacle-crossing ability and efficiency, insufficient posture stability, and easy collision with obstacles leading to structural damage in existing curtain wall cleaning robots by designing the traction-driven moving part that drives the robot to move and the stepping-driven obstacle-crossing part that drives the robot to cross obstacles as two independent parts. Specifically, the traction-driven moving part achieves the overall movement of the robot by connecting with an external rope, while the stepping-driven obstacle-crossing part focuses on the obstacle-crossing movement of the feet. This separate design allows the robot to focus more on the posture stability of the overall body when the feet make stepping movements, avoiding the limitations of traditional legged robots that require complex four-legged coordinated gait control to achieve movement. Thus, in special application scenarios such as curtain wall cleaning, it can better maintain the posture stability of the body and ensure the cleaning effect. At the same time, the design of the feet making stepping movements enables the robot to efficiently cross obstacles on the surface of the curtain wall, significantly improving obstacle-crossing ability and efficiency, and overcoming the shortcomings of low obstacle-crossing ability of wheeled or tracked robots. Therefore, the robot of this application combines high posture stability, efficient obstacle crossing ability and high mobility, providing a better technical solution for curtain wall cleaning operations.

[0021] Other features and advantages of this invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing embodiments of the invention. The objects and other advantages of this invention can be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural diagram of a towed multi-legged obstacle-crossing robot for curtain wall cleaning, provided as an embodiment of the present invention, using the first type of foot knee joint.

[0023] Figure 2 The side view of a towed multi-legged obstacle-crossing robot for curtain wall cleaning provided in this embodiment of the present invention adopts the first type of foot knee joint.

[0024] Figure 3 The side view of a towed multi-legged obstacle-crossing robot for curtain wall cleaning provided in this embodiment of the present invention adopts a second type of foot knee joint.

[0025] Figure 4 The side view of a towed multi-legged obstacle-crossing robot for curtain wall cleaning provided in this embodiment of the present invention adopts a third type of foot knee joint.

[0026] Figure 5 The side view of a towed multi-legged obstacle-crossing robot for curtain wall cleaning provided in this embodiment of the present invention adopts a fourth type of foot knee joint.

[0027] Figure 6 This is a schematic diagram of the structure of the foot of the connecting rod in an embodiment of the present invention.

[0028] Figure 7 This is a schematic diagram of the structure of the foot of the synchronous belt in an embodiment of the present invention.

[0029] Figure 8 This is a partial structural diagram of the foot of the synchronous belt in an embodiment of the present invention.

[0030] Figure 9 This is an exploded view of a portion of the foot of the synchronous belt transmission device in an embodiment of this utility model, taken from a first-view perspective.

[0031] Figure 10 This is an exploded view from a second perspective of a partial structure of the foot of the synchronous belt in an embodiment of this utility model.

[0032] Figure 11 This is a schematic diagram of the safety mechanism in an embodiment of the present invention from a first-view perspective.

[0033] Figure 12 This is a schematic diagram of the safety mechanism in an embodiment of the present invention from a second perspective.

[0034] Figure 13 This is an exploded view of the safety mechanism in an embodiment of this utility model.

[0035] Figure 14 This is a schematic diagram of the integrated waterproof cover in an embodiment of the present invention.

[0036] Label Explanation: 100. Robot torso; 200. Stepping obstacle-crossing unit; 210. Foot; 211. Thigh; 212. Lower leg; 213. Lower leg drive device; 214. Synchronous belt; 215. Synchronous belt adjustment device; 2151. First fixing part; 2152. Adjustment part; 2153. Positioning part; 2154. First auxiliary roller; 216. Flexible wheel; 310. Safety mechanism; 311. First buffer device; 312. Second fixing part; 313. Second auxiliary roller; 314. Position sensor; 315. Second buffer device; 316. Encoder; 317. Torsion spring; 320. Integrated waterproof cover. Detailed Implementation

[0037] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0038] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They 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, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0039] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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, an electrical connection, or a connection that allows for communication; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0040] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0041] The following disclosure provides many different embodiments or examples for implementing various structures of this invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0042] Reference Appendix Figure 1 and attached Figure 2 This utility model provides a towed multi-legged obstacle-crossing robot for curtain wall cleaning, including a robot body 100, and also includes an independent stepping drive obstacle-crossing part 200 and a towed drive moving part. A stepping obstacle-crossing unit 200 is mounted on the robot torso 100 and includes feet 210 located on the front and rear sides of the robot torso 100 for supporting the robot torso 100. Each foot 210 includes a movable thigh 211 and a lower leg 212. The thigh 211 and lower leg 212 of the same foot 210 are rotatably connected to form the knee joint of the foot 210, enabling the foot 210 to achieve obstacle-crossing movement. (In practical applications, the robot of this application is mainly used for curtain wall cleaning. It mainly relies on a traction mechanism to drive it to move up and down along the curtain wall surface and to cross obstacles by stepping through the feet 210. This application separates the driving mechanism for driving the robot to move and the driving mechanism for driving the robot to cross obstacles into two independent parts. The robot of this application does not need to rely on the feet 210.) The robot's movement is driven by coordinated motion. Therefore, the robot's feet 210 only need to perform gait control to overcome obstacles (for example, if the front foot encounters an obstacle, it must overcome the obstacle before the rear foot can overcome it; when the front foot overcomes an obstacle, the left foot must overcome the obstacle before the right foot can overcome it (the order is variable, and the same applies to the rear foot). Its gait control is mainly the coordinated control of the left and right feet). This allows the robot to focus more on the overall posture stability of the body when the feet 210 make stride movements (the more stable the posture, the better the curtain wall cleaning effect, because the robot is also equipped with other cleaning mechanisms, which need to be sufficiently stable to ensure accurate action on the curtain wall surface). This application protects the use of any number of feet (at least 2 feet) and any knee joint direction (see attached diagram). Figure 2 Appendix Figure 3 Appendix Figure 4 and attached Figure 5 Examples include full elbow pose, full knee pose, front elbow and back knee pose, front knee and back elbow pose, etc.), and any biomimetic form (see attached). Figure 3 and attached Figure 4 (e.g., robots with dog-like limbs and horse-like limbs). The traction drive moving part is mounted on the robot body 100 and is used to move the robot body 100 by traction through connection with an external rope.

[0043] This application decouples the obstacle-crossing function and the movement function, which are implemented by independent step-driven obstacle-crossing unit 200 and traction-driven movement unit, respectively, thereby effectively improving the robot's posture stability, obstacle-crossing ability and overall efficiency in curtain wall cleaning operations.

[0044] To better understand the technical solution of this application, some key terms involved will be explained below. The robot torso 100 is the main structure of the robot, used to support various functional modules. The stepping-driven obstacle-crossing unit 200 is the mechanism responsible for the robot to cross obstacles. Its core lies in the design of the foot 210, which is formed by the thigh 211 and the lower leg 212 connected by a knee joint, simulating the movement of a biological leg to achieve stepping obstacle crossing. The traction-driven movement unit is the mechanism responsible for the overall movement of the robot along the curtain wall surface, providing traction through connection with external ropes. The robot of this application is mainly used for curtain wall cleaning, and its working environment is a vertical or inclined curtain wall surface, requiring it to overcome gravity and cope with various protruding or recessed obstacles.

[0045] The core of the towed multi-legged obstacle-crossing robot for curtain wall cleaning in this application lies in decoupling the obstacle-crossing function and the movement function, which are realized by the independent stepping-driven obstacle-crossing unit 200 and the towed-driven movement unit, respectively.

[0046] Specifically, the robot torso 100, as the main structure of the robot, can be made of lightweight, high-strength materials, such as aluminum alloy or carbon fiber composite materials, to reduce the overall weight of the robot while ensuring structural strength, thereby reducing the load requirements on the traction-driven moving parts. The robot torso 100 can integrate a control system, power module, and cleaning mechanism, etc.

[0047] The stepping obstacle-crossing unit 200 is mounted on the robot torso 100, and its main function is to support the robot torso 100 and enable obstacle-crossing movement. The feet 210 can be located on the front and rear sides of the robot torso 100; for example, they can be configured as two pairs of feet 210, located at the front and rear ends of the robot torso 100 respectively. Each foot 210 includes a movable thigh 211 and a lower leg 212. The thigh 211 can be connected to the robot torso 100 via a rotary joint, enabling the thigh 211 to swing relative to the robot torso 100. The lower leg 212 is rotatably connected to the thigh 211 to form a knee joint, allowing the foot 210 to perform flexion and extension movements similar to those of human or animal legs. For example, the thigh 211 and lower leg 212 can be rotated via a motor-driven gear set or linkage mechanism. In one embodiment, the connecting joint between the thigh 211 and the robot torso 100 can be driven by one or more servo motors to precisely control the swing angle of the thigh 211. Similarly, the knee joint can also be driven by a servo motor to control the rotation angle of the lower leg 212 relative to the thigh 211. Through the coordinated movement of these joints, the foot 210 can perform actions such as lifting the leg, stepping, and supporting, enabling the robot to overcome obstacles on the curtain wall surface.

[0048] A traction-driven moving part is also mounted on the robot torso 100, and its main function is to move the robot torso 100 by connecting to an external rope. The traction-driven moving part may include one or more traction mechanisms, such as a winch or friction wheel mechanism. In one embodiment, the traction-driven moving part may include a motor-driven drum on which the external rope is wound. When the motor rotates, the drum winds the rope, thereby pulling the robot torso 100 up or down along the curtain wall surface. The traction-driven moving part may also include guide wheels or limiting mechanisms to ensure the external rope remains stable during traction, preventing it from slipping or tangling. For example, a pair of guide wheels may be provided, with the external rope passing between them to maintain the straightness of the rope.

[0049] The towed multi-legged obstacle-crossing robot for curtain wall cleaning disclosed in this application operates by separating the robot's movement and obstacle-crossing functions, which are implemented by independent mechanisms. During curtain wall cleaning operations, the traction drive unit, connected to an external rope, provides stable traction, driving the robot's torso 100 to move as a whole along the curtain wall surface. This movement method ensures the robot's vertical stability, avoiding posture swaying caused by leg movements, thereby ensuring that the cleaning mechanism can stably act on the curtain wall surface and improve cleaning effectiveness.

[0050] When the robot encounters obstacles on the curtain wall surface during movement, the stepping-driven obstacle-crossing unit 200 comes into play. At this time, the traction-driven moving unit can temporarily stop or slow down the traction speed to coordinate with the obstacle-crossing action. The feet 210 of the stepping-driven obstacle-crossing unit 200 perform the stepping obstacle-crossing action through the coordinated movement of the thighs 211 and lower legs 212, depending on the height and position of the obstacle. For example, when the front foot 210 encounters an obstacle, its thighs 211 and knee joints work together to lift the foot 210, allowing it to cross the obstacle and then land smoothly on the curtain wall surface on the other side of the obstacle. After the front foot 210 has crossed the obstacle, the rear foot 210 then crosses the obstacle. Throughout the obstacle-crossing process, the traction-driven moving unit provides stable support and traction, maintaining the posture stability of the robot's torso 100 and avoiding the body swaying caused by obstacle-crossing actions in traditional legged robots. This independent obstacle-crossing mechanism enables the robot to efficiently and smoothly cross various obstacles, improving the continuity and safety of operations.

[0051] Furthermore, when the foot 210 of this application crosses obstacles, its gait control mainly focuses on the coordinated control of the left and right feet. For example, when the front foot 210 encounters an obstacle, the left foot 210 can cross the obstacle first, followed by the right foot 210, or vice versa. This gait control strategy simplifies the control of the foot 210, allowing it to focus more on the accuracy and stability of obstacle-crossing movements, rather than overall movement. In this way, the robot of this application can better balance high posture stability, efficient obstacle-crossing ability, and high mobility, thereby meeting the cleaning needs in complex curtain wall environments.

[0052] The towed multi-legged obstacle-crossing robot for curtain wall cleaning described in this application has significant advantages and innovations compared to existing technologies. Traditional curtain wall cleaning robots, whether wheeled, tracked, or legged, each have their own limitations. While wheeled and tracked robots can provide some stability in certain situations, their obstacle-crossing ability and efficiency are low, making them difficult to handle obstacles in complex curtain wall environments, resulting in long operation cycles and a high risk of structural damage. Traditional legged robots, although highly mobile, primarily use gait control for movement rather than obstacle crossing, and their posture stability may be insufficient in curtain wall cleaning scenarios, failing to meet the high stability requirements of cleaning results.

[0053] The core innovation of this application lies in decoupling the robot's movement and obstacle-crossing functions, which are respectively implemented by independent traction-driven movement units and step-driven obstacle-crossing units 200. This design allows the robot to provide stable traction through the traction-driven movement units during curtain wall cleaning operations, ensuring smooth vertical movement of the robot's torso 100. This guarantees that the cleaning mechanism can stably act on the curtain wall surface, significantly improving the cleaning effect. Simultaneously, when the robot encounters obstacles, the feet 210 of the step-driven obstacle-crossing unit 200 can independently perform step-crossing actions, efficiently and smoothly traversing obstacles without affecting the overall posture stability of the robot body.

[0054] Compared to traditional legged robots, the legs 210 of this application do not require cooperative driving of robot movement. Their gait control focuses more on the accuracy and stability of obstacle-crossing actions, thereby simplifying control and improving obstacle-crossing efficiency. Compared to wheeled or tracked robots, the legs 210 of this application have higher mobility and obstacle-crossing ability, effectively overcoming various obstacles on the curtain wall surface, avoiding the risk of structural damage, and shortening the operation cycle.

[0055] In summary, the towed multi-legged obstacle-crossing robot for curtain wall cleaning proposed in this application effectively solves the problem of balancing posture stability, obstacle-crossing ability, and mobility in the prior art through its unique functional decoupling design. It provides an efficient, stable, and safe solution for curtain wall cleaning operations, demonstrating significant technological advancement and practical value.

[0056] In some of the embodiments described above in this application, although it is proposed that the feet 210 can achieve obstacle-crossing movement and the importance of the overall posture stability of the robot body for the curtain wall cleaning effect is emphasized, in practical applications, different biomimetic forms of the feet have different effects on the posture stability of the body. If a suitable biomimetic form is not selected, the posture stability of the body may be insufficient when the feet 210 are performing obstacle-crossing movement, thereby affecting the working accuracy and efficiency of the cleaning mechanism.

[0057] In some preferred embodiments, the knee joints of the front and rear feet 210 face outwards to form a horse-like limb structure.

[0058] Specifically, the horse-like quadruped structure refers to the knee joints of the feet 210 facing outwards from the robot's torso 100, giving the robot a larger wheel spacing. This structure differs from the dog-like quadruped structure, which is typically used for ground walking scenarios where gait control is mostly quadrupedal coordination. The horse-like quadruped structure, on the other hand, is more suitable for scenarios where the robot in this application moves along the surface of a curtain wall and overcomes obstacles.

[0059] Furthermore, in the horse-like limb structure, the working range of the angle between the thigh 211 and the lower leg 212 of the foot 210 is designed to be approximately between 24 and 134 degrees. This working range ensures that the foot 210 can effectively avoid collisions with obstacles on the curtain wall surface when making stride movements, thereby ensuring the smoothness of the obstacle crossing process.

[0060] Specifically, when the foot 210 is in its lowest leg-down position, the thigh 211 can be lowered at an angle of up to 60 degrees. This extreme lowering angle is designed to ensure that the foot 210 can maintain the stability of the robot's body after being lowered, and to avoid instability caused by excessive lowering angle. For example, when the foot 210 stands vertically at 90 degrees on the curtain wall surface, it is more susceptible to the influence of the external environment (such as strong winds).

[0061] When the foot 210 is in its highest raised position, the thigh 211 can raise to an angle of 61 degrees. This maximum raising angle ensures that the foot 210 can lift a sufficient distance to cross most obstacles commonly found on the curtain wall surface, thus improving the robot's obstacle-crossing ability.

[0062] The proposed solution creates a horse-like limb structure by arranging the knee joints of the front and rear feet 210 to face outwards. This structural design allows for a larger wheel spacing, providing a wider support base when the feet 210 are performing obstacle-crossing movements, effectively enhancing the robot's posture stability. The larger wheel spacing also helps resist external disturbances, such as wind or swaying of the traction rope, ensuring that the robot's torso 100 remains stable during cleaning operations.

[0063] Meanwhile, by precisely defining the working range of the angle between the thigh 211 and the lower leg 212, as well as the extreme lowering and raising angles of the thigh 211, the foot 210 of this application can perform the stepping obstacle-crossing action in an optimized posture. For example, the working range of the angle from 24 degrees to 134 degrees makes it less likely for the foot 210 to collide with obstacles during lifting and lowering, ensuring the efficiency and safety of obstacle crossing. The extreme lowering angle of 60 degrees ensures that the robot can maintain a stable center of gravity and support when the foot 210 lands, avoiding loss of balance due to excessive lowering. The extreme raising angle of 61 degrees ensures that the robot can effectively cross higher obstacles, improving its adaptability in complex curtain wall environments.

[0064] Through the aforementioned technical solution, the towed multi-legged obstacle-crossing robot of this application, by adopting a horse-like limb structure, significantly improves the overall body posture stability of the robot, especially when the legs 210 are performing obstacle-crossing movements. Compared with other biomimetic structures, the larger wheel spacing provided by the horse-like limb structure allows the robot to maintain balance better when facing uneven curtain wall surfaces or external environmental interference, thereby ensuring the operational accuracy of the cleaning mechanism. In addition, by optimizing the working range of the angle between the thigh 211 and the lower leg 212, as well as the extreme lowering and raising angles, collisions between the legs 210 and obstacles are not only effectively avoided, improving obstacle-crossing efficiency, but also obstacle-crossing capability is taken into account while ensuring stability, achieving a balance between stability and efficiency, thereby improving the overall quality and reliability of curtain wall cleaning operations.

[0065] In some preferred embodiments, this application is implemented as follows: Assume a towed multi-legged obstacle-crossing robot for cleaning the glass curtain walls of high-rise buildings. The robot's torso 100 is equipped with two sets of feet 210 at the front and two at the back, for a total of four feet. To ensure the robot can stably traverse obstacles such as window frames and decorative strips on the curtain wall during cleaning, the knee joints of each foot 210 are designed to face outwards, forming a horse-like limb structure. When the robot moves upwards along the curtain wall surface and encounters a window frame approximately 30 cm high, the front foot 210 initiates its obstacle-crossing gait first. At this time, the angle between its thigh 211 and lower leg 212 gradually decreases from a support posture of approximately 60 degrees, with the thigh 211 rising to a maximum upward angle of approximately 61 degrees, allowing the lower leg 212 to be completely lifted off the window frame surface. After crossing the window frame, the thighs 211 of the foot 210 lower to a maximum downward angle of approximately 60 degrees, ensuring that the foot 210 lands firmly on the curtain wall surface above the window frame and provides stable support. During this process, due to the larger wheel spacing provided by the horse-like limb structure, even when one foot 210 is lifted to cross an obstacle, the robot's overall center of gravity can be effectively controlled, preventing the body from swaying. This ensures that the cleaning nozzles mounted on the robot's torso 100 can continuously and stably clean the curtain wall without affecting the cleaning effect or causing secondary pollution due to unstable posture.

[0066] Reference Appendix Figure 6 , attached Figure 7 Appendix Figure 8 Appendix Figure 9 and attached Figure 10 In some embodiments, each foot 210 further includes a lower leg drive device 213 and a transmission device, wherein the lower leg drive device 213 is connected to the lower leg 212 via the transmission device; the lower leg drive device 213 is used to drive the lower leg 212 to move.

[0067] Specifically, the lower leg drive device 213 refers to the mechanism used to generate power to drive the lower leg 212 to move. It can be a motor, hydraulic cylinder, pneumatic cylinder, or other type of actuator. The transmission device is responsible for transmitting the power generated by the lower leg drive device 213 to the lower leg 212 to achieve precise movement of the lower leg 212. Among them, the movement of the lower leg 212 is a key component for the foot 210 to achieve obstacle-crossing movement. Through the coordinated action of the lower leg drive device 213 and the transmission device, the lower leg 212 can complete actions such as lifting, lowering, extending, or retracting under preset gait control, thereby helping the entire foot 210 to cross obstacles on the curtain wall surface. Its purpose is to provide the foot 210 with flexible and controlled movement capabilities to adapt to obstacles of different heights and shapes.

[0068] The solution in this application provides an independent lower leg drive device 213 and transmission device in each foot 210, enabling the lower leg 212 to be precisely driven. When the robot torso 100 moves on the curtain wall surface and encounters an obstacle, the feet 210 of the stepping obstacle-crossing unit 200 need to perform obstacle-crossing movements. At this time, the lower leg drive device 213 generates driving force according to control commands and transmits this force to the lower leg 212 through the transmission device, thereby driving the lower leg 212 to perform corresponding lifting or extension movements. It is precisely because of this precise drive and transmission mechanism that the feet 210 can effectively perform obstacle-crossing gait and maintain the overall posture stability of the robot.

[0069] The aforementioned technical solution provides a clear and controllable driving mechanism for the lower legs 212 of the towed multi-legged obstacle-crossing robot. This configuration makes the obstacle-crossing movement of the legs 210 more precise and reliable, significantly improving the robot's ability to traverse obstacles in complex curtain wall environments. Furthermore, the independent drive and transmission device design provides a finer control dimension for subsequent gait control algorithms, helping to optimize the robot's motion efficiency and operational stability, thereby ensuring the quality and safety of curtain wall cleaning operations.

[0070] In some embodiments, the transmission device is specifically any one or more combinations of timing belt 214, gears, connecting rods, chains, and electric cylinders.

[0071] Specifically, the transmission device refers to the mechanical mechanism that transmits the power or motion generated by the lower leg drive device 213 to the lower leg 212. Among them, the synchronous belt 214, through its cooperation with the synchronous pulley, enables precise synchronous transmission, suitable for applications requiring strict phase relationships; gears transmit power and change speed through meshing, featuring stable transmission ratios and high load-bearing capacity; the linkage mechanism, through the connection and movement of multiple links, converts one form of motion into another, such as converting rotary motion into reciprocating motion; the chain transmits power through sprockets, suitable for power transmission over longer distances; and the electric cylinder is an actuator that directly converts electrical energy into linear motion. These transmission devices can be used individually, for example, directly driven by a motor, or driven by a motor through a gear set; they can also be combined according to actual needs, for example, driven by a motor through the synchronous belt 214, or driven by a motor through a linkage mechanism.

[0072] The solution provided in this application offers a variety of transmission options, enabling the lower leg drive device 213 to flexibly transmit power to the lower leg 212. The rotational or linear motion generated by the lower leg drive device 213 is effectively converted into the required motion form and trajectory of the lower leg 212 through the selected transmission device. For example, when using a synchronous belt 214, smooth and precise synchronous transmission can be achieved, ensuring the motion accuracy of the lower leg 212; when using gears or chains, the transmission ratio can be adjusted as needed to obtain the required torque or speed; when using linkages or electric cylinders, specific motion trajectories or linear displacements can be achieved. This diverse transmission method allows the robot to select the most suitable power transmission scheme according to different obstacle-crossing requirements and structural layouts.

[0073] Through the above technical solutions, the robot design of this application has a high degree of flexibility and adaptability in the selection of transmission mechanisms. Designers can choose the most suitable transmission mechanism based on specific application scenarios, required motion characteristics (such as speed, accuracy, and torque), space constraints, and cost budgets. This diverse selection helps optimize the performance of the foot 210, ensuring that the lower leg 212 can perform obstacle-crossing movements accurately and stably, thereby improving the robot's overall obstacle-crossing ability and reliability.

[0074] In some preferred embodiments, refer to the appendix Figure 7 Appendix Figure 8 Appendix Figure 9 and attached Figure 10 The transmission device is specifically a synchronous belt 214. The synchronous belt 214 is a transmission belt that transmits power through toothed meshing. Its characteristics include accurate transmission, high efficiency, and the ability to achieve a large transmission ratio. Compared to other transmission devices, such as linkage mechanisms, the synchronous belt 214 drive scheme can overcome the limitations of linkage drive schemes on extreme positions, allowing the lower leg 212 to achieve a greater range of motion during movement. This facilitates obstacle avoidance and prevents structural damage from collisions with obstacles.

[0075] In some embodiments, reference is made to the appendix. Figure 7 Appendix Figure 8 Appendix Figure 9 and attached Figure 10The transmission device is specifically a synchronous belt 214; each foot 210 also includes a synchronous belt adjustment device 215, which includes a first fixing part 2151, an adjustment part 2152, a positioning part 2153 and a first auxiliary roller 2154. The first auxiliary roller 2154 is rotatably connected to the positioning part 2153 and can be rolledly connected to the synchronous belt 214; the adjustment part 2152 is screwed onto the first fixing part 2151 and the screwing depth is adjustable, and the end of the adjustment part 2152 abuts against the positioning part 2153; the adjustment part 2152 is used to drive the positioning part 2153 to move the first auxiliary roller 2154 closer to or away from the synchronous belt 214 by adjusting the screwing depth with the first fixing part 2151.

[0076] Specifically, the timing belt adjustment device 215 is designed to precisely control the tension of the timing belt 214. The first fixing part 2151 serves as the base of the adjustment mechanism, providing a stable mounting platform for other components. The adjustment part 2152 is screwed to the first fixing part 2151, and its screwing depth can be adjusted as needed. The positioning part 2153 abuts against the end of the adjustment part 2152 and carries the first auxiliary roller 2154. The first auxiliary roller 2154 is rotatably connected to the positioning part 2153 and maintains rolling contact with the timing belt 214. By rotating the adjustment part 2152, its screwing depth with the first fixing part 2151 can be changed, thereby pushing or pulling the positioning part 2153, allowing the first auxiliary roller 2154 to move closer to or further away from the timing belt 214. This design allows for the application or reduction of tension on the timing belt 214, thus achieving precise adjustment of its tension.

[0077] The solution proposed in this application effectively solves the problem of uneven tension or looseness of the synchronous belt 214 that may occur during long-term use or under different working conditions by introducing a synchronous belt adjustment device 215. Specifically, when it is necessary to adjust the tension of the synchronous belt 214, the operator can rotate the adjustment part 2152. The rotation of the adjustment part 2152 changes the screwing depth between it and the first fixing part 2151, thereby driving the positioning part 2153 to move in a preset direction. Since the first auxiliary roller 2154 is rotatably connected to the positioning part 2153 and rolls in contact with the synchronous belt 214, the movement of the positioning part 2153 will cause the first auxiliary roller 2154 to apply pressure or release pressure on the synchronous belt 214. For example, when the adjustment part 2152 is screwed in deeper, the first auxiliary roller 2154 is pushed towards the synchronous belt 214, increasing the tension of the synchronous belt 214; conversely, when the adjustment part 2152 is screwed out, the first auxiliary roller 2154 moves away from the synchronous belt 214, reducing the tension of the synchronous belt 214. This mechanical adjustment method ensures that the timing belt 214 is always kept at the optimal tension, thereby guaranteeing the smoothness and precision of the movement of the lower leg 212.

[0078] Through the above technical solution, this application provides a convenient and reliable synchronous belt tension adjustment mechanism. Compared with solutions lacking an adjustment mechanism, this application can effectively avoid problems such as slippage and decreased transmission efficiency caused by insufficient tension of the synchronous belt 214, and accelerated wear of the synchronous belt 214 and bearings caused by excessive tension. Furthermore, the synchronous belt adjustment device 215 has a simple structure and is easy to operate, enabling the robot to quickly and accurately adjust the tension of the synchronous belt 214 during maintenance and upkeep, extending the service life of the synchronous belt 214, improving the overall operational stability and reliability of the robot, and thus enhancing the efficiency and safety of curtain wall cleaning operations.

[0079] In some preferred embodiments, the timing belt adjustment device 215 can be integrated into the internal structure of the foot 210 to save space and provide protection. For example, after the robot has been running for a long time, if the system detects a decrease in the motion accuracy of the lower leg 212, or if a slight loosening of the timing belt 214 is found during routine maintenance, maintenance personnel can rotate the adjustment part 2152 using a special tool. The threaded design of the adjustment part 2152 allows it to adjust the position of the first auxiliary roller 2154 with micron-level precision, thereby restoring the timing belt 214 to a preset optimal tension. This fine adjustment capability ensures that the lower leg 212 can accurately respond to commands during drive, avoiding motion errors or vibrations caused by improper tension of the timing belt 214, thus ensuring the stability and cleaning effect of the curtain wall cleaning robot operation.

[0080] In some embodiments, the lower leg 212 is provided with a replaceable contact module at its end, which is capable of contacting the external curtain wall.

[0081] Specifically, the end of the lower leg 212 refers to the part of the foot 210 that directly contacts the surface of the external curtain wall. The replaceable contact module is a component that is not permanently fixed to the end of the lower leg 212 but is installed via a detachable connection. This contact module is designed to directly contact the surface of the external curtain wall, providing the necessary adhesion or support during obstacle-crossing or support maneuvers. Its replaceability means that when the contact module wears out, is damaged, or requires functional adjustments based on different curtain wall materials, surface conditions (e.g., smooth glass, rough stone, uneven decorative surfaces), and specific cleaning requirements (e.g., contact surfaces requiring different friction, adhesion, or cushioning capabilities), it can be easily disassembled and replaced without replacing the entire lower leg 212 or performing complex on-site repairs.

[0082] The solution presented in this application effectively addresses the limitations that traditional fixed contact structures may encounter in practical applications by incorporating a replaceable contact module at the end of the lower leg 212. Due to the replaceable nature of this contact module, when wear occurs due to prolonged robot operation, operators can quickly disassemble and replace it with a new module, significantly reducing maintenance time and increasing robot uptime. Furthermore, by preparing various types of contact modules, the most suitable module can be flexibly selected and installed based on the material and surface texture of the curtain wall, as well as the specific requirements of the cleaning task. For example, a module with strong adhesion can be selected for smooth glass curtain walls, while a wear-resistant module can be selected for rough stone curtain walls, thereby significantly improving the robot's adaptability and operational efficiency in different working environments.

[0083] Through the above technical solution, the towed multi-legged obstacle-crossing robot of this application achieves rapid replacement of contact modules, greatly facilitating the robot's daily maintenance and repair work and reducing operating costs. At the same time, because it can flexibly adapt to various contact modules according to different curtain wall types and cleaning needs, it significantly enhances the robot's environmental adaptability and functional versatility, enabling it to complete curtain wall cleaning tasks more efficiently and safely, avoiding problems such as low work efficiency or damage to the curtain wall caused by incompatible contact components.

[0084] In some preferred embodiments, when the robot needs to operate on a glass curtain wall, a contact module with a high coefficient of friction or adsorption capacity can be installed at the end of the lower leg 212 to ensure stable attachment and movement. When the robot needs to clean a textured stone curtain wall, a contact module with better cushioning and wear resistance can be used to avoid damage to the curtain wall surface and extend the module's lifespan. Specifically, this replaceable contact module can be fixed to the end of the lower leg 212 using various detachable connection methods such as bolts, clips, and magnetic attachment, thereby enabling quick and convenient replacement.

[0085] In some embodiments, the contact module is specifically any one or more combinations of flexible wheel 216, vacuum chuck, magnetic chuck, power wheel and track wheel.

[0086] The flexible wheels 216 are typically made of elastic materials, such as silicone or rubber, and are designed to provide cushioning when in contact with the curtain wall surface, reducing pressure and preventing scratches or damage. Vacuum suction cups generate negative pressure to adhere tightly to smooth curtain wall surfaces, suitable for glass or smooth stone curtain walls, providing stable adhesion. Magnetic suction cups are suitable for metal curtain walls, using magnetic force to ensure stable robot operation on metal surfaces. Driven wheels provide additional driving force while in contact with the curtain wall, assisting robot movement, especially in scenarios requiring overcoming significant resistance or precise positioning. Tracked wheels increase the contact area with the curtain wall, improving the robot's grip and stability on uneven or textured curtain wall surfaces.

[0087] This application's solution provides multiple types of contact modules, enabling the robot to flexibly select and quickly change the most suitable contact method based on the actual working environment, such as the material of the curtain wall, surface flatness, and the presence of specific obstacles. For example, when the robot needs to operate on a smooth glass curtain wall, a vacuum suction cup or flexible wheel 216 can be used to ensure stable adhesion and reduce damage; while when facing a metal curtain wall, a magnetic suction cup can provide more reliable adhesion. This design ensures the robot's high adaptability and operational efficiency under different working conditions.

[0088] Through the above technical solutions, the towed multi-legged obstacle-crossing robot of this application can quickly and conveniently change contact modules according to different curtain wall materials and cleaning requirements, thereby significantly improving the robot's versatility and operational flexibility. Furthermore, by selecting the contact module most suitable for a specific curtain wall surface, the contact method between the robot and the curtain wall can be optimized to the greatest extent. While ensuring stable attachment and efficient movement of the robot, this effectively reduces the potential risk of damage to the curtain wall surface, thereby extending the service life of the curtain wall and improving the overall quality of the cleaning operation.

[0089] In some preferred embodiments, refer to the appendix Figure 1 Appendix Figure 2 and attached Figure 7 The contact module is specifically a flexible wheel 216, which has multiple hollow units arranged in a circular pattern.

[0090] Specifically, the flexible wheel 216 refers to a wheel-shaped structure located at the end of the aforementioned lower leg 212. Its main function is to serve as the contact interface between the robot and the curtain wall surface, providing support and assisting movement. The flexible wheel 216 is designed to optimize the contact method between the robot and the curtain wall surface, reducing potential damage from rigid contact. The flexible wheel 216 has multiple circumferentially distributed perforated units. These perforated units can be understood as holes or grooves evenly distributed on the wheel body of the flexible wheel 216, aiming to increase the overall elastic deformation capacity of the flexible wheel 216 and effectively disperse contact pressure. When the flexible wheel 216 contacts the curtain wall surface, the presence of the perforated units allows the flexible wheel 216 to better adapt to the microscopic unevenness of the curtain wall surface, while reducing the actual contact area and increasing the deformation space, thereby reducing the pressure per unit area. In practical applications, the flexible wheel 216 can be made of various flexible materials, such as silicone and rubber. These materials have good elasticity, wear resistance and coefficient of friction, which can ensure that the flexible wheel 216 can provide sufficient support while effectively buffering impact and avoiding damage to the curtain wall surface.

[0091] The solution in this application incorporates a flexible wheel 216 at the end of the lower leg 212, and further incorporates multiple circumferentially distributed hollow units on the flexible wheel 216. This transforms the contact between the robot and the curtain wall surface from a rigid contact into a buffered and pressure-dispersed contact achieved through flexible materials and structural design. When the robot's foot 210 supports the curtain wall surface, the flexible wheel 216 can deform appropriately, absorbing some of the impact force and evenly dispersing the contact pressure between the robot and the curtain wall surface over a larger area. The presence of hollow units further enhances the deformation capability and elasticity of the flexible wheel 216, significantly reducing the actual contact pressure between the flexible wheel 216 and the curtain wall surface under the same load. Furthermore, the flexible material itself has low hardness and good frictional properties, effectively reducing scratches or wear that may occur to the curtain wall surface during movement or support.

[0092] Through the above technical solution, this application effectively solves the problem of potential damage caused when the robot's feet 210 come into contact with the curtain wall surface. The introduction of the flexible wheels 216, especially the hollowed-out units on them, significantly reduces the local pressure and impact force exerted by the robot on the curtain wall surface, thereby avoiding scratches, wear, or structural damage to the curtain wall. This not only protects the integrity and aesthetics of the curtain wall and extends its service life, but also reduces the risks and costs of cleaning and maintenance. Compared to using rigid materials directly or wheels without hollowed-out designs, the flexible wheels 216 of this application provide a gentler and safer contact method while ensuring stable support and movement of the robot, improving the safety and efficiency of curtain wall cleaning operations.

[0093] In some preferred embodiments, the flexible wheel 216 can be integrally molded from silicone material with a Shore hardness of 30A-50A. The outer diameter of the flexible wheel 216 can be designed to be approximately 80 mm, and the width approximately 20 mm. Twelve elliptical hollow units can be evenly distributed along the circumference of the flexible wheel 216, each hollow unit having a major axis parallel to the wheel's axis and dimensions of approximately 15 mm long and 5 mm wide. When the robot's foot 210 is supported on the glass curtain wall surface by the flexible wheel 216, the flexible wheel 216 can deform slightly. The hollow units further provide cushioning space under pressure, ensuring that the contact pressure between the robot and the glass curtain wall is far below the glass's allowable pressure, thus effectively preventing indentations or scratches on the glass surface. Furthermore, the silicone material has a moderate coefficient of friction, providing sufficient grip to prevent slippage without damaging the curtain wall surface due to excessive friction.

[0094] In some embodiments, reference is made to the appendix. Figure 11 Appendix Figure 12 and attached Figure 13 The traction drive moving part is equipped with a safety mechanism 310, which includes a first buffer device 311, a second fixing part 312, and a second auxiliary roller 313. The first buffer device 311 is connected to one end of the second fixing part 312 so that the other end of the second fixing part 312 forms a cantilever structure. The second auxiliary roller 313 is rotatably connected to the cantilever structure. The second auxiliary roller 313 can be rolledly connected with an external rope. The first buffer device 311 is used to absorb the pressure and impact force of the external rope acting on the second auxiliary roller 313.

[0095] Specifically, the safety mechanism 310 is designed to manage and buffer the interaction force between the traction drive mechanism and the external ropes when the robot moves along the curtain wall surface. The first buffer device 311 is the core component of this mechanism, its function being to absorb any unexpected pressure and impact forces that the external ropes may exert on the second auxiliary roller 313. For example, the first buffer device 311 can be implemented using elastic or damping elements such as springs, hydraulic dampers, or pneumatic buffers to provide compressible and recoverable cushioning capabilities. The second fixing part 312 is configured to connect to the first buffer device 311 and extend to form a cantilever structure. This cantilever structure design allows the second auxiliary roller 313 to be mounted at its free end, thereby absorbing energy through the deformation of the cantilever and the compression of the first buffer device 311 when subjected to the force of the external ropes. The second auxiliary roller 313 is rotatably connected to the cantilever structure, its main function being to make rolling contact with the external ropes, guide the external ropes, and transmit their force to the cantilever structure and the first buffer device 311. The material and surface treatment of the second auxiliary roller 313 can be selected according to the actual application requirements to ensure that the friction between it and the external rope is moderate, so as to effectively guide the rope and reduce wear.

[0096] The solution presented in this application effectively addresses the pressure and impact issues that external ropes may cause to the robot by integrating a safety mechanism 310 into the traction-driven moving part. When the external rope exerts additional pressure or impact on the second auxiliary roller 313 due to tilting, swaying, or other factors, these forces first act on the second auxiliary roller 313. Since the second auxiliary roller 313 is rotatably connected to the cantilever structure of the second fixed part 312, these forces are transmitted to the first buffer device 311 through the cantilever structure. The first buffer device 311 is designed to be compressible or deformable, thereby absorbing this additional energy and converting the impact force into elastic potential energy or dissipating it through damping. It is precisely because of the presence of the first buffer device 311 that the instantaneous overload or continuous pressure generated by the external rope on the traction-driven moving part is effectively alleviated, preventing these forces from acting directly on the robot's main structure, thus protecting the traction-driven moving part and its related components from damage.

[0097] Through the above technical solutions, the towed multi-legged obstacle-crossing robot of this application can significantly improve its operational reliability and safety in complex curtain wall cleaning environments. Specifically, the safety mechanism 310, particularly the introduction of the first buffer device 311, enables the robot to effectively cope with the pressure and impact caused by the tilting or swaying of the external ropes in actual applications. This not only prevents structural damage to the traction drive moving part and its connecting structure due to overload, extending the service life of the equipment, but also reduces the impact of external disturbances on the overall posture stability of the robot through the buffering effect, thereby ensuring that the cleaning mechanism can act more smoothly and accurately on the curtain wall surface, improving the quality and efficiency of the cleaning operation. In addition, the integration of this safety mechanism also reduces the risk of robot malfunction due to abnormal conditions of the external ropes, enhancing the safety of the operators.

[0098] In some preferred embodiments, the safety mechanism 310 is implemented as follows: the first buffer device 311 is configured as a helical compression spring, one end of which is fixedly connected to the frame of the traction drive moving part, and the other end is hinged to one end of the second fixing part 312. The second fixing part 312 is made into an L-shaped bracket, with its longer arm forming a cantilever structure. The second auxiliary roller 313 is rotatably mounted at the end of the cantilever structure via a bearing. When the external rope applies pressure to the second auxiliary roller 313, the cantilever structure will deflect downward and compress the helical compression spring. The elastic deformation of the spring can absorb the impact energy of the external rope and reset the cantilever structure after the pressure is released. For example, when the robot descends along the curtain wall, the external rope swings due to wind, causing a lateral impact on the second auxiliary roller 313. At this time, the first buffer device 311 will immediately compress to absorb the impact energy and prevent the impact force from being directly transmitted to the robot body 100, thereby maintaining the stable operation of the robot.

[0099] In some embodiments, reference is made to the appendix. Figure 11 Appendix Figure 12 and attached Figure 13 The safety mechanism 310 also includes a position sensor 314, which is located on the same side as the first buffer device 311 and can contact the cantilever structure.

[0100] Specifically, position sensor 314 refers to a device capable of detecting the position or displacement of an object. Its purpose is to monitor the real-time position of the cantilever structure and issue a signal when its displacement exceeds a safe range. In practical applications, position sensor 314 can be understood as a limit switch, proximity sensor, or displacement sensor, etc., and it is configured on the same side as the first buffer device 311 to facilitate the detection of the displacement of the cantilever structure. When the cantilever structure is displaced due to the pressure or impact of the external rope, its end will gradually approach or contact position sensor 314. For example, when the cantilever structure is pushed to a preset limit position, it will trigger position sensor 314, thereby sending a signal to the robot control system. Here, the cantilever structure refers to the other end of the second fixed part 312, which is connected to the second fixed part 312 through the first buffer device 311 and carries the second auxiliary roller 313. The contact between position sensor 314 and cantilever structure can be physical contact or non-contact sensing, depending on the type of sensor used.

[0101] The solution in this application, by introducing a position sensor 314 into the safety mechanism 310, enables real-time monitoring of the displacement of the cantilever structure. When the external rope applies excessive pressure or impact to the second auxiliary roller 313, although the first buffer device 311 absorbs some energy, the cantilever structure will still displace if the force persists or exceeds its buffering capacity. At this time, the position sensor 314 is configured to be triggered when the cantilever structure reaches a preset critical displacement. Once triggered, the position sensor 314 immediately sends a signal to the robot control system, indicating that the cantilever structure is in a dangerous displacement state. Based on this signal, the control system can respond promptly, for example, by reducing the traction speed of the traction-driven moving part or performing emergency braking, thereby preventing further displacement of the cantilever structure and avoiding it from reaching a limit position that could cause structural damage. It is precisely because of the introduction of the position sensor 314 that the robot can provide early warning and proactive intervention for potential structural damage risks, thus significantly improving the safety of the traction-driven moving part.

[0102] Through the above technical solution, this application can effectively solve the problem that relying solely on buffer devices may not completely prevent excessive displacement of the cantilever structure. The placement of the position sensor 314 enables the robot system to perceive the displacement state of the cantilever structure in real time and take timely protective measures when it approaches a dangerous area. This not only prevents structural damage to the cantilever structure caused by excessive displacement and extends the service life of the equipment, but also ensures the stability and reliability of the robot's operation in complex and changing curtain wall environments, further improving the safety performance of the entire traction-driven moving part and reducing operational risks.

[0103] In some preferred embodiments, the position sensor 314 can be implemented using a microswitch or a photoelectric sensor. Specifically, when the cantilever structure displaces inward due to the impact of the external rope, its end will touch the microswitch pre-installed on the same side as the first buffer device 311. Once the microswitch is triggered, it immediately sends an electrical signal to the robot control system. After receiving the signal, the control system will, according to preset logic, immediately instruct the traction drive moving part to reduce the traction speed, or perform a braking operation in an emergency, to prevent the cantilever structure from continuing to displace and avoid collision with the robot body 100 or other internal components, thereby effectively protecting the structural integrity of the traction drive moving part. As another specific implementation, the position sensor 314 can also be a proximity sensor installed on the same side as the first buffer device 311. When the cantilever structure displaces into the sensing range of the proximity sensor, the sensor is triggered, which can also realize the above-mentioned warning and control functions.

[0104] In some embodiments, reference is made to the appendix. Figure 11 Appendix Figure 12 and attached Figure 13 A second buffer device 315 is provided on the side of the position sensor 314 facing away from the cantilever structure. The second buffer device 315 is used to absorb the pressure and impact force exerted on the position sensor 314 by the cantilever structure.

[0105] Specifically, the second buffer device 315 can be understood as an elastic element capable of absorbing mechanical energy, which is disposed on the side of the position sensor 314 facing away from the cantilever structure. Its purpose is to effectively mitigate the direct impact and pressure exerted by the cantilever structure on the position sensor 314 when the cantilever structure comes into contact with it. In practical applications, the second buffer device 315 can be an elastic or damping element such as a spring, rubber pad, hydraulic buffer, or pneumatic buffer. For example, a spring can be used, which absorbs impact energy through its own compression deformation.

[0106] The solution of this application involves installing a second buffer device 315 on the side of the position sensor 314 facing away from the cantilever structure. When the cantilever structure moves towards and contacts the position sensor 314 due to pressure or impact from external ropes, the cantilever structure first compresses the position sensor 314. At this time, although the system can receive the trigger signal from the position sensor 314, the impact force often acts on the position sensor 314 instantaneously. As a result, the impact force has already damaged the position sensor 314 before the robot performs deceleration or braking. To address this, this application adds a second buffer device 315 below it. The pressure or impact force received by the position sensor 314 is transmitted to the second buffer device 315 and compressed. During the compression process, the second buffer device 315 can absorb part of the pressure and impact force transmitted from the cantilever structure, thereby effectively reducing the peak force and instantaneous impact acting on the position sensor 314, keeping the load borne by the position sensor 314 within its safe operating range. It is precisely because of the buffering effect of the second buffer device 315 that the position sensor 314 is not easily damaged while detecting the displacement of the cantilever structure.

[0107] Through the above technical solution, the presence of the second buffer device 315 effectively absorbs the pressure and impact force exerted on the position sensor 314 by the cantilever structure, thereby preventing the position sensor 314 from being damaged due to excessive pressure or impact. This significantly improves the reliability and service life of the safety mechanism 310, ensuring the safety and stability of the robot during curtain wall cleaning operations.

[0108] In some embodiments, reference is made to the appendix. Figure 11 Appendix Figure 12 and attached Figure 13 The safety mechanism 310 also includes an encoder 316, which can be rolled to an external rope and is used to determine whether the traction drive moving part is pulling normally.

[0109] Specifically, encoder 316 is a sensor used to measure rotational or linear motion, capable of converting mechanical motion into electrical signals. In this embodiment, encoder 316 is configured to be rolled in connection with an external rope, meaning that the measuring wheel or roller of encoder 316 is in close contact with the surface of the external rope and rotates synchronously with the movement of the external rope. By detecting the rotation of encoder 316, the displacement information of the external rope can be obtained in real time. When the traction drive moving part is working normally, it will drive the external rope to move, at which time encoder 316 will detect the corresponding displacement signal. However, if slippage occurs between the traction machine and the external rope, even if the traction machine is still running, the external rope will not move relative to encoder 316, or the displacement will be much smaller than expected. In this case, encoder 316 will continuously fail to detect a valid displacement signal, or the detected displacement signal will be abnormal. When the system receives a signal that encoder 316 continuously fails to detect displacement, it will be determined that the traction drive moving part has failed to pull normally, and the system will then perform a braking operation on the traction machine.

[0110] This application's solution introduces an encoder 316 to achieve real-time monitoring of the working status of the traction-driven moving part. The encoder 316 is in direct contact with the external rope, accurately reflecting its actual movement. When the traction-driven moving part is working normally, its driving force is transmitted to the external rope, causing displacement. The encoder 316 then rotates and outputs a displacement signal. If slippage occurs between the traction machine and the external rope, although the traction-driven moving part may still be operating, its driving force cannot be effectively transmitted to the external rope, causing the external rope to stop or move abnormally. In this case, the encoder 316 will not detect the displacement of the external rope, or will detect an abnormal displacement. By analyzing the output signal of the encoder 316, the system can promptly identify abnormal traction conditions and quickly take braking measures, thereby avoiding potential risks such as traction machine overload, external rope wear, or robot loss of control caused by slippage.

[0111] Through the above technical solution, this application effectively solves the problem of robot malfunction caused by slippage between the traction machine and the external rope. The introduction of the encoder 316 enables the robot to accurately determine in real time whether the traction drive mechanism is functioning properly, thus taking timely braking measures when slippage occurs. This not only avoids damage to the traction machine or external rope caused by prolonged slippage but also significantly improves the safety and reliability of the robot during curtain wall cleaning operations, ensuring that the robot can complete the cleaning task stably and efficiently.

[0112] In some preferred embodiments, it is assumed that the traction drive is propelling the robot upwards along the curtain wall surface. During this movement, slippage may suddenly occur between the traction machine and the external rope due to the slippery curtain wall surface or localized wear of the external rope. At this time, the traction machine's motor may still be running at high speed, but the actual displacement speed of the external rope will significantly decrease or even stop. The encoder 316, being rolled along with the external rope, will immediately detect that the external rope's displacement speed does not match the traction machine's expected speed, or that it continuously fails to detect any external rope displacement. Upon receiving the abnormal signal from the encoder 316, the control system will immediately determine that slippage has occurred in the traction drive and quickly issue a braking command to the traction machine. Upon receiving the braking command, the traction machine will immediately stop operating, thus avoiding the risks of overheating of the traction machine, excessive wear of the external rope, or even breakage that could result from continuous slippage. In this way, the encoder 316 effectively ensures the robot's operational safety and prevents potential equipment damage and accidents.

[0113] In some embodiments, reference is made to the appendix. Figure 11 Appendix Figure 12 and attached Figure 13 The safety mechanism 310 also includes a torsion spring 317, which is connected to the encoder 316 and is used to apply pressure to the encoder 316 to keep the encoder 316 in contact with the external rope.

[0114] Specifically, the torsion spring 317 is an elastic element capable of storing and releasing torsional energy. One end of it can be fixedly connected to a support structure of the safety mechanism 310, while the other end is connected to the shaft or housing of the encoder 316. When the encoder 316 is installed in place, the torsion spring 317 is preloaded, generating a continuous torsional torque. This torque is converted into radial pressure on the contact point between the encoder 316 and the external rope through a suitable mechanical structure. This pressure allows the rollers or contact surfaces of the encoder 316 to fit tightly against the surface of the external rope, maintaining a stable contact state even if the external rope experiences slight swaying or positional changes during robot movement. The elastic properties of the torsion spring 317 ensure the continuity and moderation of the pressure, guaranteeing reliable contact while preventing excessive pressure from causing unnecessary wear on the encoder 316 or the external rope.

[0115] The solution proposed in this application effectively solves the problem of unstable contact between the encoder 316 and the external rope by introducing a torsion spring 317. When the traction-driven moving part moves along the curtain wall surface, the external rope may experience slight displacement or vibration due to factors such as wind, robot swaying, or surface unevenness. Without an additional pressure mechanism, the contact between the encoder 316 and the external rope may be intermittent, causing the encoder 316 to be unable to continuously and accurately acquire the displacement data of the external rope. The torsion spring 317, through its preset torsional force, continuously applies a stable contact pressure to the encoder 316, ensuring that the measuring wheel of the encoder 316 is always firmly pressed against the external rope. Thus, regardless of the slight changes in the external rope, the encoder 316 can maintain a reliable rolling connection, thereby ensuring that it can accurately detect the relative displacement of the external rope and providing a solid data foundation for judging whether the traction-driven moving part is performing traction normally.

[0116] Through the above technical solution, the torsion spring 317 applies continuous and stable pressure to the encoder 316, making the contact between the encoder 316 and the external rope more compact and reliable. This significantly improves the accuracy and stability of the encoder 316 in detecting the displacement of the external rope, effectively avoiding misjudgments or missed judgments caused by poor contact. Compared with solutions that rely solely on the weight of the encoder 316 itself or simple fixing methods, this application, through the active pressure of the torsion spring 317, ensures that the encoder 316 can accurately capture the movement of the external rope under various working conditions, including slight swaying of the external rope or changes in robot posture. This improves the reliability of the normal traction judgment of the traction drive moving part, further ensuring the safe operation of the robot and the efficiency of curtain wall cleaning operations.

[0117] In some embodiments, reference is made to the appendix. Figure 14 The traction drive moving part also includes a traction machine module, which includes a traction machine and an integrated waterproof cover 320 surrounding the traction machine.

[0118] Specifically, the traction module refers to a modular component that integrates the traction mechanism with the integrated waterproof cover 320. The traction mechanism is the core component providing traction force; it can be a motor-driven winch mechanism or a friction wheel mechanism, designed to drive the robot's torso 100 along an external rope. The integrated waterproof cover 320 can be understood as a one-piece molded protective shell designed to completely enclose the traction mechanism, forming a sealed or highly splash-proof space. In practical applications, the integrated waterproof cover 320 can be made of polymer materials, composite materials, or metal materials, and can be manufactured using processes such as injection molding, welding, or one-piece molding. Its purpose is to effectively prevent external liquids (such as rainwater, cleaning fluids, etc.) from entering the traction mechanism, thereby protecting the traction mechanism's electrical components from corrosion or short-circuit damage.

[0119] The solution presented in this application effectively solves the problem of liquid corrosion that the traction drive unit may face in humid environments by introducing a traction machine module into the traction drive moving part, and making this module include the traction machine and an integrated waterproof cover 320 surrounding the traction machine. The integrated waterproof cover 320, acting as an external barrier for the traction machine, isolates the traction machine from water or cleaning fluids in the external environment, preventing these liquids from directly contacting the internal electrical components of the traction machine. It is precisely because of the integrated design of the integrated waterproof cover 320 and its complete enclosure of the traction machine that the traction machine module possesses excellent waterproof performance, thereby ensuring the stable and reliable operation of the traction machine during curtain wall cleaning operations.

[0120] Through the above technical solution, the traction drive mobile unit, equipped with a traction module and an integrated waterproof cover 320, significantly improves its operational reliability in humid or water-rich environments. The integrated waterproof cover 320 effectively prevents liquid from splashing into the traction module, avoiding malfunctions or damage to electrical components due to moisture, thereby extending the service life of the traction drive mobile unit and even the entire robot. Compared to traction mechanisms lacking waterproof protection, the solution proposed in this application ensures the robot can operate continuously and stably in harsh cleaning environments, reducing maintenance costs and improving operational efficiency and safety.

[0121] In some preferred embodiments, the traction module can be designed as a modular unit that can be quickly disassembled and installed. The integrated waterproof cover 320 can be integrally injection molded from high-strength engineering plastic, with reserved installation space for the traction unit and necessary cable interfaces, all of which are sealed with waterproof sealing rings. After the traction unit is installed inside the integrated waterproof cover 320, the opening of the integrated waterproof cover 320 is fixed with bolts and sealed with waterproof gaskets to ensure that the entire module meets the IP67 or higher waterproof standard. For example, when the robot is performing curtain wall cleaning operations, even if a large amount of water or cleaning fluid splashes onto the traction drive moving part, the integrated waterproof cover 320 can effectively prevent liquid from entering, protecting the critical components inside the traction unit such as motors, sensors, and control circuits from damage, thereby ensuring that the robot can continuously and stably perform traction movement to complete the cleaning task.

[0122] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0123] The above descriptions are merely some embodiments of this utility model. For those skilled in the art, various modifications and improvements can be made without departing from the inventive concept of this utility model, and all such modifications and improvements fall within the protection scope of this utility model.

Claims

1. A towed multi-legged obstacle-crossing robot for curtain wall cleaning, comprising a robot torso (100), characterized in that, It also includes an independent step-drive obstacle-crossing unit (200) and a traction-drive moving unit; The stepping obstacle-crossing unit (200) is mounted on the robot torso (100) and includes feet (210) located on the front and rear sides of the robot torso (100) for supporting the robot torso (100). Each foot (210) includes a movable thigh (211) and a lower leg (212). The thigh (211) and lower leg (212) of the same foot (210) are rotatably connected to form the knee joint of the foot (210) so that the foot (210) can achieve obstacle-crossing movement. The traction drive moving part is mounted on the robot body (100) and is used to move the robot body (100) by traction through connection with an external rope.

2. The towed multi-legged obstacle-crossing robot for curtain wall cleaning according to claim 1, characterized in that, The knee joints of the front and rear feet (210) face outward to form a horse-like limb structure.

3. The towed multi-legged obstacle-crossing robot for curtain wall cleaning according to claim 1, characterized in that, Each foot (210) also includes a lower leg drive device (213) and a transmission device. The lower leg drive device (213) is connected to the lower leg (212) via the transmission device. The lower leg drive device (213) is used to drive the movement of the lower leg (212).

4. The towed multi-legged obstacle-crossing robot for curtain wall cleaning according to claim 3, characterized in that, The transmission device is specifically any one or more combinations of synchronous belt (214), gear, connecting rod, chain and electric cylinder.

5. The towed multi-legged obstacle-crossing robot for curtain wall cleaning according to claim 3, characterized in that, The transmission device is specifically a synchronous belt (214); each foot (210) also includes a synchronous belt adjustment device (215), which includes a first fixing part (2151), an adjustment part (2152), a positioning part (2153) and a first auxiliary roller (2154). The first auxiliary roller (2154) is rotatably connected to the positioning part (2153) and can be rolledly connected to the synchronous belt (214); The adjusting part (2152) is screwed onto the first fixing part (2151) and the screwing depth is adjustable. The end of the adjusting part (2152) abuts against the positioning part (2153). The adjusting part (2152) is used to drive the positioning part (2153) to move the first auxiliary roller (2154) closer to or away from the synchronous belt (214) by adjusting the screwing depth with the first fixing part (2151).

6. The towed multi-legged obstacle-crossing robot for curtain wall cleaning according to claim 1, characterized in that, The lower leg (212) is provided with a replaceable contact module at its end, which can contact the external curtain wall.

7. The towed multi-legged obstacle-crossing robot for curtain wall cleaning according to claim 6, characterized in that, The contact module is specifically any one or more combinations of flexible wheel (216), vacuum chuck, magnetic chuck, power wheel and track wheel.

8. The towed multi-legged obstacle-crossing robot for curtain wall cleaning according to claim 7, characterized in that, The contact module is specifically a flexible wheel (216), which has multiple hollow units arranged in a circular pattern.

9. The towed multi-legged obstacle-crossing robot for curtain wall cleaning according to claim 1, characterized in that, The traction drive moving part is provided with a safety mechanism (310). The safety mechanism (310) includes a first buffer device (311), a second fixing part (312), and a second auxiliary roller (313). The first buffer device (311) is connected to one end of the second fixing part (312) so that the other end of the second fixing part (312) forms a cantilever structure. The second auxiliary roller (313) is rotatably connected to the cantilever structure. The second auxiliary roller (313) can be rolledly connected with an external rope. The first buffer device (311) is used to absorb the pressure and impact force of the external rope acting on the second auxiliary roller (313).

10. The towed multi-legged obstacle-crossing robot for curtain wall cleaning according to claim 9, characterized in that, The safety mechanism (310) also includes a position sensor (314) located on the same side as the first buffer device (311) and capable of contacting the cantilever structure.

11. The towed multi-legged obstacle-crossing robot for curtain wall cleaning according to claim 10, characterized in that, A second buffer device (315) is provided on the side of the position sensor (314) facing away from the cantilever structure. The second buffer device (315) is used to absorb the pressure and impact force exerted on the position sensor (314) by the cantilever structure.

12. The towed multi-legged obstacle-crossing robot for curtain wall cleaning according to claim 10, characterized in that, The safety mechanism (310) also includes an encoder (316), which can be rolled to an external rope and is used to determine whether the traction drive moving part is pulling normally.

13. The towed multi-legged obstacle-crossing robot for curtain wall cleaning according to claim 12, characterized in that, The safety mechanism (310) also includes a torsion spring (317), which is connected to the encoder (316) and is used to apply pressure to the encoder (316) to keep the encoder (316) in contact with the external rope.

14. The towed multi-legged obstacle-crossing robot for curtain wall cleaning according to claim 1, characterized in that, The traction drive unit also includes a traction module, which includes a traction machine and an integrated waterproof cover (320) surrounding the traction machine.

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