Wall surface obstacle surmounting work robot

Abstract

The utility model provides a kind of wall surface obstacle crossing operation robot, including robot body, still include: several obstacle crossing components, each obstacle crossing component is located the side of robot body facing wall surface, the obstacle crossing component includes strip stroke piece, fixed part, the strip stroke piece is connected with fixed part by folding drive component, at least for controlling the fixed part close to or away from wall surface;Obstacle crossing connecting component, for connecting the side of robot body facing wall surface and obstacle crossing component;Operation mechanism, for with wall surface contactable disengagement operation, or with wall surface interval predetermined distance operation;Operation connecting component, for connecting the side of robot body away from wall surface and operation mechanism;Control mechanism, for controlling obstacle crossing component, obstacle crossing connecting component, operation mechanism and operation connecting component, realize obstacle crossing operation and wall surface operation.The utility model can improve operation range and flexibility, and do not interfere with operation mechanism in the process of lifting or lifting fixed part, guarantee operation efficiency.

Description

Technical Field

[0001] This utility model relates to the field of wall operation technology, specifically to a wall obstacle crossing robot. Background Technology

[0002] With the increasing number of high-rise buildings, the need for cleaning, inspection and maintenance of walls (such as glass curtain walls and stone exterior walls) is becoming more and more urgent. Wall operation robots can replace human workers in high-altitude environments, effectively avoiding the risk of falling from heights that exists in traditional manual operations, and improving the safety and efficiency of operations.

[0003] However, existing wall-climbing robots, especially large and heavy ones, have insufficient obstacle-crossing capabilities on walls. Some wall-climbing robots achieve wall climbing through the alternating movement of multiple telescopic rods (e.g., CN207821768U, curtain wall cleaning robot control system). When one telescopic rod needs to move, its suction device must first be raised or lifted to detach from the glass wall so that the telescopic rod can move normally. The structure on the telescopic rods of these wall-climbing robots used to raise or lift the suction device is generally a linear slide rail structure (such as a rack and pinion sliding rail structure). The distance the suction device is raised or lifted corresponds to the distance the telescopic rod must be raised accordingly. Furthermore, the distance the telescopic rod can be raised is roughly related to the obstacle-crossing capability of the wall-climbing robot. This inevitably leads to spatial conflicts and motion interference between these telescopic rods and other components of the wall-climbing robot in some cases, such as motion interference with cleaning devices and other operating mechanisms, affecting normal operation. The aforementioned curtain wall cleaning robot control system uses a telescopic pole to position the cleaning device in the middle of the robot. While this avoids interference between the cleaning device and other telescopic poles, it limits the cleaning range. To address this, some wall-mounted robots use robotic arms to connect the actuators, improving the flexibility and working range of the operating mechanism. However, the direction, angle, or position of the operating mechanism during operation is difficult to predict, easily causing interference with the raised telescopic poles and affecting the normal operation of the wall-mounted robot. Utility Model Content

[0004] To address the shortcomings of existing technologies, the purpose of this utility model is to propose a wall-crossing obstacle-crossing robot that can improve the working range and flexibility of the working mechanism, and ensure work efficiency by ensuring that the obstacle-crossing component does not interfere with the working mechanism during the lifting or raising of the fixed part.

[0005] The technical solution of this utility model is implemented as follows: A wall-crossing obstacle-crossing robot includes a robot body and also includes: Several obstacle-crossing components are located on the side of the robot body facing the wall. Each obstacle-crossing component includes a strip-shaped travel member and at least one fixed part that can be detachably connected to the wall. The strip-shaped travel member is connected to the fixed part through a folding drive component and is used at least to control the fixed part to move closer to or away from the wall. An obstacle-crossing connection assembly is used to connect the side of the robot body facing the wall to the obstacle-crossing assembly, the obstacle-crossing connection assembly enabling the robot body to move relative to the corresponding obstacle-crossing assembly at least in the length direction of the strip-shaped travel member; The working mechanism is used for operations that can be detached from the wall surface or at a predetermined distance from the wall surface. A working connection assembly is used to connect the side of the robot body facing away from the wall and the working mechanism, the working connection assembly enabling the working mechanism to move relative to the robot body at least in the longitudinal direction. The control mechanism is used to control the obstacle crossing component, the obstacle crossing connection component, the working mechanism, and the working connection component to realize obstacle crossing operation and wall operation.

[0006] Preferably, the folding drive assembly includes a folding component and a drive element; wherein, The two ends of the folding component are respectively connected to the strip-shaped travel member and the fixing part. The driving member is installed on the strip-shaped travel member and configured to drive the folding component to perform an unfolding action or a folding action. When the folding component unfolds, the fixing part moves away from the strip-shaped travel member; when the folding component folds, the fixing part moves closer to the strip-shaped travel member.

[0007] Preferably, the folding component includes two folding pieces arranged opposite to each other; One end of the folding member is rotatably mounted to the strip-shaped travel member, and the other end is rotatably mounted to the fixing part; The driving component is connected to one of the folding components. When the driving component drives one of the folding components to perform an unfolding or folding action, the other folding component simultaneously performs an unfolding or folding action.

[0008] Preferably, the folding member includes a main arm, and a first end of the main arm is rotatably mounted to the strip-shaped travel member; The first end of the main arm is equipped with a synchronizing gear, and the two synchronizing gears on the first ends of the two main arms mesh with each other.

[0009] Preferably, the folding member further includes a secondary arm, the first end of which is rotatably mounted to the fixing part, and the second end of the main arm is hinged to the second end of the secondary arm.

[0010] Preferably, the driving component includes a folding motor, the strip-shaped travel member is provided with a fixing member, and the folding motor is mounted on one side of the fixing member; Both main arms are rotatably mounted on the other side of the fixing member; The output shaft of the folding motor passes through the fixing member and is connected to one of the main arms.

[0011] Preferably, the working mechanism includes a multi-axis robotic arm and a working execution component, wherein the multi-axis robotic arm is connected to the working connection assembly, and the working execution component is connected to the free end of the multi-axis robotic arm.

[0012] Preferably, the work connection assembly includes a work connection seat disposed on the side of the robot body facing away from the wall. The work connection seat is fixedly connected to one end of the work mechanism. The work connection seat is at least slidably connected to the robot body. The robot body has parallel work guide rails and a transverse rack formed in the length direction. The work connection assembly also includes a work motor, a work gear, and a work guide groove formed on the work connection seat. The work motor is used to drive the work gear meshing with the transverse rack. The work guide rail is embedded in the work guide groove and the two can slide relative to each other.

[0013] Preferably, the obstacle crossing connection assembly includes an obstacle crossing connection seat disposed on the side of the robot body facing the wall. The obstacle crossing connection seat is at least slidably connected to the strip-shaped travel member. The strip-shaped travel member has parallel obstacle crossing guide grooves and a longitudinal rack formed in the length direction. The obstacle crossing connection assembly also includes an obstacle crossing motor, an obstacle crossing gear, and a sliding member formed on the obstacle crossing connection seat. The obstacle crossing motor is used to drive the obstacle crossing gear that meshes with the longitudinal rack. The sliding member is embedded in the obstacle crossing guide groove and can slide relative to the obstacle crossing guide groove.

[0014] Preferably, each obstacle-crossing component has two folding drive components, with the two folding drive components respectively located at both ends of the strip-shaped travel member.

[0015] Compared with the prior art, the present invention has the following advantages: This invention connects the side of the robot body facing away from the wall to the working mechanism via a working connection component. The working mechanism can move relative to the robot body at least in the length direction, which improves the working range and flexibility of the working mechanism. Furthermore, a folding drive component connects the strip-shaped travel member to the fixed part. When the folding drive component performs a folding action, it drives the fixed part to move closer to the strip-shaped travel member, thereby lifting or raising the fixed part. This allows the fixed part to move away from the wall and overcome obstacles. At the same time, the space reduction effect of the folding drive component in the lifting direction of the fixed part prevents the end of the folding drive component facing away from the wall from being lifted accordingly with the lifting movement of the fixed part. Thus, the lifting of the fixed part does not interfere with the relative movement and normal operation of the working mechanism in the length direction of the robot body, ensuring work efficiency. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a three-dimensional view of the overall structure of this utility model; Figure 2 This is a three-dimensional view of the overall structure of this utility model from another perspective; Figure 3 This utility model Figure 1 A magnified view of part A in the image; Figure 4 This utility model Figure 2 A magnified view of part B in the image; Figure 5 This utility model Figure 2 A magnified view of part C in the image.

[0018] Reference numerals in the attached diagram: 1. Robot body; 2. Strip-shaped travel component; 3. Fixing part; 4. Folding drive assembly; 41. Drive component; 42. Main arm; 43. Synchronizing gear; 44. Secondary arm; 5. Obstacle crossing connection assembly; 51. Obstacle crossing connection seat; 52. Obstacle crossing guide groove; 53. Longitudinal rack; 54. Obstacle crossing motor; 55. Sliding component; 6. Working mechanism; 61. Multi-axis robotic arm; 62. Work execution component; 7. Work connection assembly; 71. Work connection seat; 72. Work guide rail; 73. Lateral rack; 74. Work motor; 75. Work gear; 76. Work guide groove. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," "third," and "fourth," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] 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 or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0022] See Figures 1 to 5 A wall-crossing obstacle-crossing robot includes a robot body 1, and also includes: Several obstacle-crossing components are located on the side of the robot body 1 facing the wall. Each obstacle-crossing component includes a strip-shaped travel member 2 and at least one fixing part 3 that can be detachably connected to the wall. The strip-shaped travel member 2 is connected to the fixing part 3 through a folding drive component 4, which is used at least to control the fixing part 3 to move closer to or away from the wall. The obstacle crossing connection component 5 is used to connect the side of the robot body 1 facing the wall and the obstacle crossing component. The obstacle crossing connection component 5 enables the robot body 1 to move relative to the corresponding obstacle crossing component at least in the length direction of the strip-shaped travel member 2. Working mechanism 6 is used for working in contact with the wall surface that can be detached, or for working at a predetermined distance from the wall surface; The working connection component 7 is used to connect the side of the robot body 1 facing away from the wall and the working mechanism 6. The working connection component 7 enables the working mechanism 6 to move relative to the robot body 1 at least in the length direction. The control mechanism is used to control the obstacle crossing component, the obstacle crossing connection component 5, the working mechanism 6 and the working connection component 7 to realize obstacle crossing operation and wall operation.

[0023] As a specific solution and not a limitation, the obstacle-crossing component includes a first obstacle-crossing component and a second obstacle-crossing component. The steps of the control mechanism in this embodiment controlling the obstacle-crossing component and the obstacle-crossing connection component 5 to achieve the obstacle-crossing operation include: The folding drive assembly 4 of the first obstacle-crossing assembly unfolds, and the structural space of the folding drive assembly 4 in the lifting direction increases, so that the fixing part 3 of the first obstacle-crossing assembly is close to the wall and fixedly connected to the wall. The folding drive assembly 4 of the second obstacle-crossing assembly retracts, and the structural space of the folding drive assembly 4 in the lifting direction is reduced so that the fixing part 3 of the second obstacle-crossing assembly is away from the wall, and the distance between the fixing part 3 of the second obstacle-crossing assembly and the wall is greater than the height of the wall obstacle. The obstacle crossing connection component 5 between the second obstacle crossing component and the robot body 1 is locked, while the robot body 1 is controlled to move relative to the first obstacle crossing component in the length direction of the strip-shaped stroke component 2 of the first obstacle crossing component. After the second obstacle-crossing component has at least partially crossed the wall obstacle, the folding drive component 4 that controls the second obstacle-crossing component unfolds, and the structural space of the folding drive component 4 in the lifting direction increases, so that the fixing part 3 of the second obstacle-crossing component is close to the wall and fixedly connected to the wall. The folding drive assembly 4 of the first obstacle-crossing assembly retracts, and the structural space of the folding drive assembly 4 in the lifting direction is reduced so that the fixing part 3 of the first obstacle-crossing assembly is away from the wall, and the distance between the fixing part 3 of the first obstacle-crossing assembly and the wall is greater than the height of the wall obstacle. The obstacle crossing connection component 5 between the first obstacle crossing component and the robot body 1 is locked, while the robot body 1 is controlled to move relative to the second obstacle crossing component in the length direction of the strip-shaped stroke component 2 of the second obstacle crossing component. Once the first obstacle-crossing component has at least partially crossed the wall obstacle, the above steps are repeated until the entire wall obstacle-crossing robot has crossed the wall obstacle. Due to the space reduction effect of the folding drive component 4 in the lifting direction of the fixed part 3, the end of the folding drive component 4 away from the wall will not rise accordingly with the lifting movement of the fixed part 3. This achieves the purpose of not interfering with the relative movement and normal operation of the working mechanism 6 in the length direction of the robot body 1 during the lifting of the fixed part 3, thus ensuring work efficiency.

[0024] Preferably, the strip-shaped travel member 2 is a strip rod, the length direction of which is perpendicular to the length direction of the robot body 1; the fixing part 3 is a vacuum adsorption device.

[0025] As a specific embodiment and not a limitation, the folding drive assembly 4 includes a folding component and a drive element 41; wherein, The two ends of the folding component are respectively connected to the strip-shaped travel member 2 and the fixing part 3. The driving member 41 is installed on the strip-shaped travel member 2 and is configured to drive the folding component to perform an unfolding action or a folding action. When the folding component unfolds, the fixing part 3 moves away from the strip-shaped travel member 2. In actual operation, the corresponding fixing part 3 is lowered to the wall and adheres to the wall. When the folding component folds, the fixing part 3 moves closer to the strip-shaped travel member 2. In actual operation, the corresponding fixing part 3 is raised and moves away from the wall. During this raising process, the folding component folds, which reduces the structural space of the folding component in the raising direction. That is, this embodiment reduces the space occupied by the folding component by folding, thereby achieving the purpose of raising the fixing part 3. This avoids the problem that the end of the folding component away from the wall will protrude and be raised accordingly as the fixing part 3 is raised. In this way, the raising of the fixing part 3 does not interfere with the relative movement and normal operation of the working structure in the length direction of the robot body 1, thus ensuring work efficiency.

[0026] Preferably, the folding component includes two folding pieces arranged opposite to each other, that is, the opening directions of the two folding pieces when unfolded are opposite to each other, or the two folding pieces are mirror images of each other. More specifically, in this embodiment, the unfolding range and folding range of the two folding pieces are the same. In practical applications, the dimensions of the main structures of the two pieces can be designed to be the same. One end of the folding member is rotatably mounted to the strip-shaped travel member 2, and the other end is rotatably mounted to the fixing part 3; The driving member 41 is connected to one of the folding members. When the driving member 41 drives one of the folding members to perform an unfolding or folding action, the other folding member simultaneously performs an unfolding or folding action. That is, when the driving member 41 drives one of the folding members to perform an unfolding action, the other folding member also simultaneously performs an unfolding action of the same magnitude. When the driving member 41 drives one of the folding members to perform a folding action, the other folding member also simultaneously performs a folding action of the same magnitude.

[0027] Preferably, the folding member includes a main arm 42, the first end of which is rotatably mounted to the strip-shaped travel member 2; The first end of the main arm 42 is equipped with a synchronous gear 43. The two synchronous gears 43 on the first ends of the two main arms 42 mesh with each other, so that the two stacked parts can perform the unfolding or folding action synchronously and with the same amplitude. Furthermore, when the two symmetrically arranged folding parts perform the opening and closing action synchronously and with the same amplitude, they can achieve the purpose of stably pushing or retracting the fixed part 3, keeping the fixed part 3 raised or lowered in a straight line, so as to avoid the problem of uncertain movement trajectory when the fixed part 3 is raised or lowered, thereby improving the operational stability of the fixed part 3.

[0028] Preferably, the folding component further includes a secondary arm 44, the first end of which is rotatably mounted on the fixing part 3, and the second end of the main arm 42 is hinged to the second end of the secondary arm 44. The secondary arm 44 and the main arm 42 achieve the purpose of folding and unfolding the folding component through mutual rotation.

[0029] Preferably, the fixing part 3 has a hinge seat, and the first ends of the two auxiliary arms 44 are coaxially mounted on the hinge seat through the same rotating shaft, or the first ends of the two auxiliary arms 44 are respectively mounted on both sides of the hinge seat through two parallel rotating shafts.

[0030] Preferably, the driving component 41 includes a folding motor, the strip-shaped travel component 2 is provided with a fixing component, and the folding motor is mounted on one side of the fixing component; Both main arms 42 are rotatably mounted on the other side of the fixing member; The output shaft of the folding motor passes through the fixing member and is connected to one of the main arms 42. In this embodiment, the output shaft of the folding motor is connected to the first end of one of the main arms 42 to drive the corresponding main arm 42 to rotate, and through the synchronous gear 43, to drive the other main arm 42 to rotate in the opposite direction, thereby driving the folding component to perform an unfolding or folding action. Furthermore, it should be noted that the specific structure of how the main arm 42 is rotatably mounted on the fixing member can be achieved using a bearing housing mounting method. Bearing mounting is a conventional technique and will not be described in detail here. Similarly, the folding motor is a geared motor with a brake, and the fixing and assembly method between its output shaft and the corresponding main arm 42 can be achieved using a common coupling mounting method; again, the specific structure will not be shown or described here.

[0031] As a specific embodiment and not a limitation, the working mechanism 6 includes a multi-axis robotic arm 61 and a work execution component 62. The multi-axis robotic arm 61 is connected to the work connection assembly 7, and the work execution component 62 is connected to the free end of the multi-axis robotic arm 61. Specifically, taking the work execution component 62 of this embodiment as a cleaning device as an example, the multi-axis robotic arm 61 can be a six-axis or seven-axis robotic arm, which is highly flexible and can realize large-scale, multi-angle, and full-coverage cleaning / wiping operations on the wall surface.

[0032] As a specific solution rather than a limitation, the operation connection component 7 includes an operation connection seat 71 disposed on the side of the robot body 1 facing away from the wall. The operation connection seat 71 is fixedly connected to one end of the operation mechanism 6. By placing the operation connection seat 71 on the side of the robot body 1 facing away from the wall and placing the obstacle-crossing component on the side of the robot body 1 facing the wall, interference between the operation mechanism 6 and the obstacle-crossing component during operation and during the movement of the operation connection seat 71 can be further avoided, thereby improving operation efficiency and reliability.

[0033] Preferably, the working connection seat 71 is at least slidably connected to the robot body 1 in a lock-locking manner. When the working mechanism 6 is performing wall work, it can form a rigid connection with the robot body 1 by locking, which can lock the working mechanism 6 to prevent accidental movement, improve the stability of the operation, and reduce safety hazards.

[0034] Preferably, the robot body 1 has parallel working guide rails 72 and transverse racks 73 formed along its length. The working connection assembly 7 further includes a working motor 74, a working gear 75, and a working guide groove 76 formed on the working connection seat 71. The working motor 74 drives the working gear 75, which meshes with the transverse rack 73. The working guide rails 72 are embedded in the working guide groove 76, and the two can slide relative to each other. The working gear 75 is a geared motor with a brake. Its meshing transmission with the transverse rack 73 can provide a precise and reliable driving force for the relative movement of the robot body 1 and the working connection seat 71, avoiding power loss. At the same time, together with the working guide rails 72 and the working guide groove 76, they jointly ensure the stability and accuracy of the working connection assembly 7, which bears a large weight working mechanism 6, when moving relative to the robot body 1.

[0035] Preferably, the working connection seat 71 has a C-shaped cross-section, the number of working guide rails 72 is two, which are respectively arranged on the upper and lower sides of the robot body 1, and the number of working guide grooves 76 is two, which are slidably engaged with the two working guide rails 72, so that the working connection assembly 7 can hold the side of the robot body 1 facing away from the wall, and the working connection seat 71 can move relative to the robot body 1, driving the working mechanism 6 to move in the length direction of the robot body 1, thereby expanding the working range of the working mechanism 6 when the robot body is fixed to the wall.

[0036] As a specific solution rather than a limitation, the obstacle-crossing connection component 5 includes an obstacle-crossing connection seat 51 disposed on the side of the robot body 1 facing the wall. The obstacle-crossing connection seat 51 is at least slidably connected to the strip-shaped travel member 2 in a lock-locking manner. On the one hand, it can form a rigid connection by locking during obstacle crossing, ensuring that the robot body 1 moves accurately along the linear path of the strip-shaped travel member 2. After the lock-locking is released, it can flexibly switch to a new path, realizing a seamless connection of alternating loads of the obstacle-crossing component. On the other hand, in high-altitude scenarios, it can lock the robot body 1 to prevent accidental sliding and distribute the weight load to reduce safety hazards.

[0037] As a preferred embodiment and not a limitation, the strip-shaped travel member 2 has parallel obstacle-crossing guide grooves 52 and longitudinal racks 53 formed along its length. The obstacle-crossing connection assembly 5 also includes an obstacle-crossing motor 54, an obstacle-crossing gear, and a sliding member 55 formed on the obstacle-crossing connection base 51. The obstacle-crossing motor 54 drives the obstacle-crossing gear meshing with the longitudinal rack 53. The sliding member 55 is embedded in the obstacle-crossing guide groove 52 and can slide relative to it. In this embodiment, the sliding member 55 is embedded in the obstacle-crossing guide groove 52 and can slide relative to it, forming a synergy with the driving structure of the obstacle-crossing gear and longitudinal rack 53. This not only precisely limits the movement trajectory of the component through the obstacle-crossing guide groove 52 to prevent deviation, but also reduces the frictional resistance during component movement, making the overall movement smoother and more stable, effectively improving the reliability and stability of the component operation. Optionally, the sliding member 55 in this embodiment can be a slider or a pulley system. Compared with a slider, a pulley system has the advantages of being lightweight and sliding smoothly; the obstacle-crossing motor 54 is a geared motor with a brake.

[0038] Preferably, each obstacle-crossing component has two folding drive components 4, which are respectively located at both ends of the strip-shaped travel member 2. This can effectively distribute the load. At the same time, through the combined action of the obstacle-crossing components of multiple strip-shaped travel members 2, the adhesion of the wall-crossing robot to the wall surface can be ensured during obstacle crossing and operation, further improving the operation efficiency and reliability.

[0039] In summary, several obstacle-crossing components of this utility model embodiment can be alternately fixedly connected to the wall surface. In conjunction with the obstacle-crossing connecting component 5, the robot body 1 moves relative to the unfixed obstacle-crossing components. Through precise control of the control mechanism, the obstacle-crossing components and the obstacle-crossing connecting component 5 move alternately to achieve the purpose of obstacle crossing. When the folding part of the obstacle-crossing component folds, due to the space reduction effect of the folding part in the lifting direction of the fixed part 3, the end of the folding part away from the wall surface will not rise accordingly with the lifting movement of the fixed part 3. Thus, the lifting of the fixed part 3 does not interfere with the relative movement and normal operation of the working mechanism 6 in the length direction of the robot body 1, ensuring work efficiency.

[0040] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A wall-crossing obstacle-crossing robot, comprising a robot body, characterized in that, Also includes: Several obstacle-crossing components are located on the side of the robot body facing the wall. Each obstacle-crossing component includes a strip-shaped travel member and at least one fixed part that can be detachably connected to the wall. The strip-shaped travel member is connected to the fixed part through a folding drive component and is used at least to control the fixed part to move closer to or away from the wall. An obstacle-crossing connection assembly is used to connect the side of the robot body facing the wall to the obstacle-crossing assembly, the obstacle-crossing connection assembly enabling the robot body to move relative to the corresponding obstacle-crossing assembly at least in the length direction of the strip-shaped travel member; The working mechanism is used for operations that can be detached from the wall surface or at a predetermined distance from the wall surface. A working connection assembly is used to connect the side of the robot body facing away from the wall and the working mechanism, the working connection assembly enabling the working mechanism to move relative to the robot body at least in the longitudinal direction. The control mechanism is used to control the obstacle crossing component, the obstacle crossing connection component, the working mechanism, and the working connection component to realize obstacle crossing operation and wall operation.

2. The wall-crossing obstacle-crossing robot according to claim 1, characterized in that, The folding drive assembly includes a folding component and a drive element; wherein... The two ends of the folding component are respectively connected to the strip-shaped travel member and the fixing part. The driving member is installed on the strip-shaped travel member and configured to drive the folding component to perform an unfolding action or a folding action. When the folding component unfolds, the fixing part moves away from the strip-shaped travel member; when the folding component folds, the fixing part moves closer to the strip-shaped travel member.

3. The wall-crossing obstacle-crossing robot according to claim 2, characterized in that, The folding component includes two folding pieces arranged opposite to each other; One end of the folding member is rotatably mounted to the strip-shaped travel member, and the other end is rotatably mounted to the fixing part; The driving component is connected to one of the folding components. When the driving component drives one of the folding components to perform an unfolding or folding action, the other folding component simultaneously performs an unfolding or folding action.

4. The wall-crossing obstacle-crossing robot according to claim 3, characterized in that, The folding component includes a main arm, the first end of which is rotatably mounted to the strip-shaped travel component; The first end of the main arm is equipped with a synchronizing gear, and the two synchronizing gears on the first ends of the two main arms mesh with each other.

5. A wall-crossing obstacle-crossing robot according to claim 4, characterized in that, The folding component also includes a secondary arm, the first end of which is rotatably mounted on the fixed part, and the second end of the main arm is hinged to the second end of the secondary arm.

6. A wall-crossing obstacle-crossing robot according to claim 4 or 5, characterized in that, The driving component includes a folding motor, and a fixing component is provided on the strip-shaped travel component, with the folding motor mounted on one side of the fixing component; Both main arms are rotatably mounted on the other side of the fixing member; The output shaft of the folding motor passes through the fixing member and is connected to one of the main arms.

7. A wall-crossing obstacle-crossing robot according to any one of claims 1 to 5, characterized in that, The working mechanism includes a multi-axis robotic arm and a working execution component. The multi-axis robotic arm is connected to the working connection assembly, and the working execution component is connected to the free end of the multi-axis robotic arm.

8. A wall-crossing obstacle-crossing robot according to any one of claims 1 to 5, characterized in that, The operation connection assembly includes an operation connection seat disposed on the side of the robot body facing away from the wall. The operation connection seat is fixedly connected to one end of the operation mechanism. The operation connection seat is at least slidably connected to the robot body. The robot body has parallel operation guide rails and a transverse rack formed in the length direction. The operation connection assembly also includes an operation motor, an operation gear, and an operation guide groove formed on the operation connection seat. The operation motor is used to drive the operation gear that meshes with the transverse rack. The operation guide rail is embedded in the operation guide groove and the two can slide relative to each other.

9. A wall-crossing obstacle-crossing robot according to any one of claims 1 to 5, characterized in that, The obstacle crossing connection assembly includes an obstacle crossing connection seat disposed on the side of the robot body facing the wall. The obstacle crossing connection seat is slidably connected to at least the strip-shaped travel member. The strip-shaped travel member has parallel obstacle crossing guide grooves and a longitudinal rack formed in the length direction. The obstacle crossing connection assembly also includes an obstacle crossing motor, an obstacle crossing gear, and a sliding member formed on the obstacle crossing connection seat. The obstacle crossing motor is used to drive the obstacle crossing gear that meshes with the longitudinal rack. The sliding member is embedded in the obstacle crossing guide groove and can slide relative to the obstacle crossing guide groove.

10. A wall-crossing obstacle-crossing robot according to any one of claims 1 to 5, characterized in that, Each obstacle-crossing component has two folding drive components, which are respectively located at both ends of the strip-shaped travel member.

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