CN108312159B

CN108312159B - Multifunctional robot system and application thereof

Info

Publication number: CN108312159B
Application number: CN201810340486.1A
Authority: CN
Inventors: 黎鑫
Original assignee: Zhejiang University ZJU
Current assignee: Zhejiang University ZJU
Priority date: 2017-04-19
Filing date: 2018-04-17
Publication date: 2023-06-09
Anticipated expiration: 2038-04-17
Also published as: JP6564903B2; CN106926253A; CN108312159A; JP2018177215A

Abstract

The invention relates to a multifunctional robot system and application thereof, comprising a supply station and a plurality of robot units which can move independently, wherein the supply station is provided with a power supply system and a supply station moving device, the robot units are provided with a robot driving device, a work executing device and a robot moving device, the supply station is respectively connected with each robot unit through a connecting cable, the connecting cable comprises a branch power cable, and the power supply system respectively provides power flow for each robot unit through the branch power cable. The plurality of robot units move on a horizontal plane or an inclined plane or a vertical plane or a top plane, and the supply station follows the plurality of robot units to move. The invention is provided with the independent supply station, the execution device of the robot is separated from the driving device and the supply device, the supply station continuously supplies raw materials and energy to the robot, the weight and the volume of the robot side are reduced, the single working time of the robot is prolonged, and the working efficiency is improved.

Description

Multifunctional robot system and application thereof

Technical Field

The invention belongs to the technical field of robot application, and particularly relates to a multifunctional robot system with operation capability and application thereof.

Background

With the continuous development of the modern technological level, robots are widely used. Chinese patent publication No. CN104802872a discloses a wall climbing robot. The wall climbing robot E can be adsorbed on the surface of the rough outer wall C to move. Typically, wall climbing robots E often use a tube or wire D to obtain a continuous power supply from the outside. For example, as shown in fig. 1, when the wall climbing robot E performs cleaning or spraying operation on a vertical surface, the wall climbing robot E has a height of 100 meters from the roof B, and thus the wall climbing robot E suffers from the following problems:

(1) If the wall climbing robot E is provided with a water tank or a paint tank and a control part (such as a control valve), the weight of the wall climbing robot E becomes very heavy, and the wall climbing robot E falls down due to the huge gravity effect.

(2) If the raw material supply a such as a water tank or a paint tank is placed on the roof, raw materials such as water or paint are required to be transported to the wall climbing robot E through a long pipe D, which causes difficulty in controlling the raw material supply amount. If the control components (flow valves, pressure valves, etc.) of the raw materials are placed on the roof, the length of the pipes and cables (e.g., 100 meters long) can cause serious time delays that can lead to control failure, instability problems. Moreover, when the raw material flows through a long pipe and is conveyed to the wall climbing robot E, great along-distance loss can be generated on the long pipe, and the conditions of insufficient pressure and flow at the end of the robot unit can be caused. If the control part of the raw material is mounted on the wall climbing robot E, this in turn causes a considerable increase in the weight of the wall climbing robot E, which is very disadvantageous for the wall climbing robot E.

(3) If the power supply a is placed on the roof, the power flow (current, etc.) needs to be transmitted to the robot unit through a long cable, which causes difficulty in controlling the power. If the power control components (transformers etc.) are placed on the roof, the length of the cable (e.g. 100 meters long) will cause serious time delays which can lead to control failure, instability problems. Moreover, when power flows through a long cable and is transmitted to the robot unit, great along-distance loss is generated on the long cable, and the situation that the power of the wall climbing robot E is insufficient is caused. If the power control part is installed on the wall climbing robot E, the weight of the wall climbing robot E is greatly increased, which is very disadvantageous for the wall climbing robot E.

(4) Taking fig. 2 as an example, the wall climbing robot E moves laterally from the position a to the position B, and the cable D also changes its position accordingly. The weight of the cable D will exert a lateral drag force on the robotic unit. That is, the wall climbing robot E has to drive the cable D to move simultaneously when moving. If the cable D is very long, the mass of the cable D is heavy. For the moving wall climbing robot E, the cable D becomes a very large inertial load, seriously affecting the movement performance of the wall climbing robot E. Moreover, in order to resist the undetectable lateral drag force, the adsorption device of the wall climbing robot E has to always operate in the state of maximum adsorption force, which results in excessive energy consumption of the adsorption device.

(5) A long cable D connecting the wall climbing robot E and the roof feeding apparatus a is suspended at high altitude. High altitude has violent cross wind, and the cross wind exerts acting force on the cable, leads to the cable swing to, and, this acting force can directly act on wall climbing robot E through cable D, forms the horizontal drag to wall climbing robot E, calls cross wind drag in the following. The drag force of the crosswind changes with the state of the crosswind at high altitude, and is an unstable and unpredictable acting force. If the cable D is long (hundreds of meters or more), the force becomes large, seriously affecting the stability of the wall climbing robot E.

(6) In the process of carrying out the work, it is necessary to pay in and pay out the cable D according to the movement of the wall climbing robot E. Ideally, the pay-off and take-up length and speed of the cable D can be calculated from the relative positions of the wall climbing robot E and the feeding unit a of the roof B. However, the connection cable D between the wall climbing robot E and the supply unit a of the roof is a flexible wire body with both ends fixed, the cable D is also affected by factors such as gravity, crosswind force, etc., and the longer the cable D, the more remarkable the effect. Then, the flexible wire body problem becomes complicated, and solving is difficult, thereby making it difficult to accurately control the winding and unwinding length and speed of the cable D according to the movement of the robot. If the cable D is not properly wound or wound, the movement of the wall climbing robot E is liable to be seriously affected.

It is known that improvements of wall climbing robots are needed to overcome the above technical difficulties.

Disclosure of Invention

The invention aims to solve the technical problem of providing a multifunctional robot system with operation capability, which can solve a plurality of technical problems in the background art.

The invention is realized in such a way that a robot system is provided, comprising a movable supply station and a plurality of robot units, and a traction device for driving the supply station to move, wherein the supply station is provided with a power supply system; the supply station is respectively connected with each robot unit through a connecting cable, the connecting cable comprises a branch power cable, and the power supply system respectively provides power flow for each robot unit through the branch power cable; the robot unit is provided with a robot driving device, a work executing device, a robot adsorbing device and a robot moving device, the robot driving device drives the robot moving device to enable the robot unit to move on a working surface, and the plurality of robot units are attached to the working surface through the robot adsorbing device to move; the plurality of robot units move on a horizontal plane or an inclined plane or a vertical plane or a top plane, and the supply station follows the plurality of robot units to move.

Further, the supply station is further provided with a supply station moving device and a supply station adsorbing device, the supply station adsorbing device adsorbs the supply station on the working surface, and the supply station moving device is contacted with the working surface so that the supply station moves on the working surface.

Further, at least one bridge plate is arranged on the supply station, and at least one part of the bridge plate is arranged on the supply station in a manner of being capable of being stored and unfolded; when the bridge approach plate is in an unfolding state, at least one side edge of the bridge approach plate is placed on the working surface and is contacted with the working surface; the robot unit moves onto the bridge plate from one side edge in contact with the working surface, and then moves onto the working surface from the side edge of the other or same bridge plate in contact with the working surface.

Further, a recovery cabin is further arranged on the supply station, at least one robot unit is accommodated in the recovery cabin, and the robot unit can move from the working surface to the recovery cabin for recovery and move out of the recovery cabin to the working surface.

Further, a recovery cabin is arranged on the bridge approach plate, at least one robot unit is accommodated in the recovery cabin, at least one side edge of the bridge approach plate is placed on the working surface and is in contact with the working surface, and the robot unit can move from the working surface to the recovery cabin of the bridge approach plate for recovery and move out of the recovery cabin of the bridge approach plate to the working surface.

Further, a recovery cabin is further arranged on the supply station, at least one robot unit is accommodated in the recovery cabin, and the robot unit can move from the working surface to the recovery cabin of the supply station through the bridge guiding plate for recovery and move out of the recovery cabin of the supply station to the working surface.

Further, a limiting device is arranged on the side of the recovery cabin and used for limiting the position of the robot unit.

The invention is realized in such a way that the application of the multifunctional robot system is provided, the plurality of robot units are used as wall cleaning robots, the work executing device is used as a wall cleaning device, the running working surface of the plurality of robot units is a vertical or inclined building wall, the traction device comprises a winch, the winch is arranged at the top of the building, the winch pulls a supply station through a hanging rope to move up and down along with the plurality of robot units, the plurality of robot units perform cleaning operation on the building wall, the plurality of robot units are attached to the wall through an adsorption device thereof to run, a water source is arranged on the supply station, the connecting cable comprises a branch power cable and a branch water pipe, and the supply station supplies cleaning water to each robot unit through the branch water pipe.

Further, the plurality of robot units are further provided with camera devices and robot wireless ranging signal stations, images shot by the camera devices are transmitted to the remote control system through the wireless transmitting devices, the building is provided with wireless positioning devices communicated with the robot wireless signal stations, and the wireless positioning devices are controlled by the remote control system.

Compared with the prior art, the multifunctional robot system and the application thereof are provided with the independent supply station, the execution device of the robot is separated from the driving device and the supply device, the supply station continuously supplies raw materials and energy to the robot, the weight and the volume of the robot side are reduced, the single working time of the robot side is prolonged, the working efficiency and the stability and the control of the robot unit are improved, and the energy consumption can be reduced.

Drawings

FIG. 1 is a schematic diagram of a prior art wall climbing robot;

FIG. 2 is a schematic view showing a state of the prior art wall climbing robot of FIG. 1 before and after a position movement on a wall;

fig. 3 is a schematic plan view of a first, a second and a seventh embodiment of the multi-functional robotic system of the present invention;

FIG. 4 is a side view of the cleaning robot of FIG. 3;

FIG. 5 is a plan view showing a use state of a third embodiment of the multi-functional robot system of the present invention;

FIG. 6 is a plan view showing a use state of a fourth embodiment of the multi-functional robot system of the present invention;

FIG. 7 is a schematic cross-sectional view showing a service state of a supply station of a fifth embodiment of the multi-function robot system of the present invention;

FIG. 8 is a schematic view of the feeding station of FIG. 7 passing through a bridge deck and a raised barrier;

FIG. 9 is a schematic view of the drive wheel of the supply station of FIG. 7 passing over a raised barrier;

FIG. 10 is a schematic cross-sectional view of the recovery tank of FIG. 7;

FIG. 11 is a plan view showing a use state of a sixth embodiment of the multi-functional robot system of the present invention;

fig. 12 is a plan view illustrating a use state of an eighth embodiment of the multi-functional robot system of the present invention.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

Embodiment one:

referring to fig. 3 and 4, a preferred embodiment of the multi-functional robot system of the present invention includes a movable supply station 1, a plurality of robot units 2, and a traction device for driving the supply station to move. The traction device drives the feeding station 1 to move. The traction means pulls the supply station 1 by means of the rope 7. The supply station 1 has no active movement capability and can only be pulled to move by a pulling device.

The supply station 1 is provided with a power supply system. The robot unit 2 is provided with a robot driving device, a work executing device, a robot adsorbing device 4, and a robot moving device 13. The supply station 1 is connected to each robot cell 2 via a connection cable 3. The robot driving device drives the robot moving device to move the robot unit 2 on the working surface. The power supply system provides a power flow to each robot cell 2 via a connection cable 3, respectively. The power flow comprises a power supply, a high-pressure air source, a hydraulic source, a high-pressure water source and the like. The robot adsorbing device 4 allows the robot unit 2 to adsorb and move on the surface on which it is located.

The several robot units 2 can be moved and operated on vertical, inclined surfaces, and also on ceilings, and the supply station 1 follows the several robot units. The plurality of robot units 2 travel within a range centered on the supply station 1. For example, the work executing devices of the plurality of robot units 2 may be cameras, and perform shooting work. For another example, the work execution device of the plurality of robot units 2 may be an acoustic flaw detector, and perform flaw detection work on the work surface.

The supply station 1 is provided with a power supply system. The power supply system takes a continuous flow of power from below or above through the conveyor cable 14. In the example of fig. 3, the power supply system takes a continuous flow of power from below through the conveyor cable 14. The power supply system may also be self-contained with a power source, such as a battery or the like, from which power flow is supplied to the robot unit 2 via the connecting cable 3.

Taking an ultrasonic flaw detector as an example, the work executing device is an ultrasonic probe. The ultrasonic signal amplification and storage processing components are typically heavy and we can place these heavy components on the supply station 1. In this way, the weight of the robot unit 2 can be reduced, thereby solving the problem (1) described in the background art.

Taking the cleaning of the wall surface as an example, the work implement device is a brush device, and the device for supplying the cleaning water to the cleaning wall surface is called a raw material supply device (the raw material in this example refers to the cleaning water). The raw material supply apparatus generally includes a booster pump, a control valve, and the like, and thus has a large weight. The work performing means may be mounted on the robot unit 2 and the raw material supply means on the supply station 1. The feed cable 14 includes a branch pipe of the raw material, and the cleaning water is fed to the raw material supply device at the supply station 1. The connecting cable 3 comprises a branch line of raw material through which the cleaning water flows to the work implement of the robot unit 2. The connecting cable 3 is typically only ten or more meters long. The raw material flow does not cause obvious time delay and travel loss when being transmitted in the connection cable with the length of more than ten meters, thereby ensuring the sufficient supply and effective control of the raw material flow. The problem (2) described in the background art is solved.

In the present embodiment, the power supply system of the supply station 1 supplies a power flow to the robot unit 2 through the connection cable 3. The connecting cable 3 is typically only ten or more meters long. The power flow does not cause obvious time delay and travel loss when transmitted in the connection cable with the length of more than ten meters, thereby ensuring the full supply and effective control of the power flow. The problem (3) described in the background art is solved.

In addition, when the robot unit 2 moves, only the connecting cable 3 with the length of more than ten meters is required to be driven, so that the inertial load of the robot unit 2 is relatively small, the moving performance of the robot unit 2 is not affected, and the problem (4) in the background technology is solved.

Embodiment two:

referring to fig. 3 and 4, as a variation of the first embodiment, the supply station 1 is further provided with a supply station suction device and a supply station moving device (not shown in fig. 3). For aloft work, the rope 7 hanging the supply station 1 may be up to several tens of meters or even hundreds of meters. High altitudes are subjected to severe cross winds that exert forces on the ropes 7, causing the ropes 7 and thus the supply station 1 to oscillate. The swinging supply station 1 drags the robot unit 2 through the connection cable 3, severely affecting the stability of the robot unit 2. The supply station moving device includes a plurality of wheels. The station suction means allows the station 1 to be attached to the work surface, thereby generating contact and friction between the wheels of the station moving means and the work surface. The friction force can overcome the cross wind drag force of the rope 7, so the cross wind drag force is not transmitted to the connecting cable 3 and is not transmitted to the robot unit 2, the influence of the non-measurable cross wind drag force is eliminated, and the stability of the robot unit 2 is ensured. The influence of unpredictable crosswind drag is eliminated, and the suction device 4 of the robot unit 2 does not need to always operate in the state of maximum suction force, so that the power consumption of the suction device 4 becomes small. This solves the problem (5) described in the background art well.

In the present embodiment, the supply station suction device allows the supply station 1 to be attached to the work surface, and an external force that randomly varies such as a drag force of cross wind is overcome by a frictional force between the supply station 1 and the work surface. Therefore, the problem of the flexible wire body with both ends fixed, which is composed of the robot unit 2, the supply station 1 and the connection cable 3, becomes simple, and the robot unit 2 can freely move within the length range of the connection cable 3. This solves the problem (6) described in the background art well.

Embodiment III:

fig. 5 is a variation of the second embodiment. The supply station 1 is further provided with supply station moving means and supply station adsorbing means (not shown in the figure). The supply station moving device includes a plurality of wheels. A bridge guiding plate 15 is further arranged on the supply station 1, and at least one part of the bridge guiding plate 15 is arranged on the supply station 1 in a manner of being capable of being stored and unfolded; when the bridge-approach plate 15 is in the unfolded state, at least one side edge of the bridge-approach plate 15 is placed on the working surface, and the robot unit 2 moves from the side edge onto the bridge-approach plate 15 and moves the bridge-approach plate 15 from the other side edge. A bridge plate 15 is provided on the supply station 1 of fig. 5. A side of the bridge plate 15 is mounted on the supply station 1 and rotates about the side as an axis so as to be stored and deployed. When bridge deck 15 is in the deployed state, the sides of bridge deck 15 contact wall surface 5. The robot unit 2 moves onto the bridge approach plate 15 from one side of the bridge approach plate 15 and moves out the bridge approach plate 15 from the other side, as a moving route shown by a broken line in fig. 5. After the robot unit 2 passes through the groove F, the bridge approach plate 15 rotates by a certain angle to be in a storage state, the side edge of the bridge approach plate 15 leaves the wall surface 5, and friction between the side edge of the bridge approach plate 15 and the wall surface 5 is avoided when the supply station 1 moves.

This embodiment is suitable for applications where deep and wide grooves F or breaks are present in the working surface, such as many undercut finishing grooves in tall buildings. Because, when there is a groove or a break in the working surface, and the working surface is discontinuous, the robot unit 2 of the first and second embodiments cannot pass through the groove F or the break, and thus cannot operate. In this embodiment, the bridging action of the bridging plate 15 can move the robot unit 2 to the working surface on the other side of the groove F or the break, so as to realize continuous operation of the robot unit 2.

Embodiment four:

fig. 6 shows a variation of the third embodiment. Three bridge boards 15 are provided in total on the supply station 1 of fig. 6. A side of the bridge plate 15 is mounted on the supply station 1 and rotates about the side as an axis so as to be stored and deployed. When the bridge guiding plate 15 is in the unfolded state, the other side edge of the bridge guiding plate 15 contacts the wall surface 5. The robot unit 2 moves onto one bridge deck 15 and out of the other bridge deck, as a moving path shown by a broken line in fig. 6. After the robot unit 2 passes through the groove F, the bridge approach plate 15 rotates by a certain angle to be in a storage state, the side edge of the bridge approach plate 15 leaves the wall surface 5, and friction between the side edge of the bridge approach plate 15 and the wall surface 5 is avoided when the supply station 1 moves.

The present embodiment moves the robot unit 2 to the working surface on the other side of the groove F or the break through the bridging action of the bridge plate 15, realizing continuous operation of the robot unit 2.

Fifth embodiment:

fig. 7 shows another variation of the second embodiment. Fig. 7 is a cross-sectional view of the supply station 1. The supply station 1 is provided with supply station moving means and supply station adsorbing means. The supply station moving means comprises a plurality of wheels 17. The supply station 1 is further provided with a recovery cabin 16, and the recovery cabin 16 accommodates at least one robot unit 2, and the robot unit 2 can move from the working surface 5 into the recovery cabin 16 for recovery or move out of the recovery cabin 16 to the working surface 5. A bridge guiding plate 15 is arranged at the outer side part of the recovery cabin 16, and the bridge guiding plate 15 can be stored or unfolded. When in the deployed state, at least one side edge of the bridge approach 15 is placed on the working surface 5 in contact with the working surface 5. The robot unit 2 is moved into the recovery compartment 16 by means of the bridge deck 15. If the recovery compartment 16 is located very close to the working surface, the bridge plate 15 may not be needed and the robot unit 2 may directly enter the recovery compartment 16.

This embodiment is applicable not only to cases where deep and wide grooves F are provided on the working surface, but also to cases where protrusions G are provided on the working surface. The specific obstacle surmounting working principle of the embodiment is as follows:

the access panel 15 of the recovery compartment 16 is in an extended state, one side edge of the access panel 15 contacting the work surface. The robot unit 2 is moved to the recovery compartment 16 of the supply station 1 by means of the bridge deck 15. Then, the access panel 15 is stowed in the stowed condition. The supply station 1 with the robot unit 2 is completed by means of a traction device and a supply station moving device over obstacles such as a trench F or a bulge G. When the height of the raised obstacle G is smaller than the radius of the wheel 17 of the feeder station moving means, the wheel 17 may be a driven wheel without drive. When the raised obstacle G is higher than the radius of the wheels 17 of the station moving means, the wheels 17 must be driven driving wheels. Friction can be created between the capstan and the projection G to assist the feeder station 1 in negotiating the projection G obstruction, as shown in fig. 9. After the supply station 1 passes over the protruding obstacle G, the bridge approach plate 15 is unfolded again, and the robot unit 2 moves to the work surface to continue the work.

The bridging schemes described in embodiments three and four only assist the robot cell 2 in passing through the recessed channel F obstruction, but are ineffective for both cases described below. (1) When the trench F is wide (e.g., a trench 5 meters wide), the bridging scheme requires at least 5 meters long bridging plate 15, and it is apparent that a bridging plate 15 5 meters long is too large for the supply station 1, greatly increasing the size and weight of the supply station 1; (2) When the robot system is to pass a high protruding G obstacle, as shown in fig. 8, the bridge approach plate 15 of the bridging scheme is lifted by the protruding G obstacle, so that the side edge of the bridge approach plate 15 cannot contact the working surface, and then the robot unit 2 cannot move in and out of the bridge approach plate 15. The scheme of the embodiment can well solve the two problems.

In addition, a controllable limiting device 18 can be arranged on the recovery compartment 16. When the robot unit 2 enters the recovery compartment 16, the limiting device 18 is opened, so that the robot unit 2 is limited in the recovery compartment 16. In this way, the robot unit 2 does not fall out of the recovery compartment 16 during movement of the supply station 1, ensuring the safety of the robot unit 2. For example, the limiting device 18 may be a knock pin 20 driven by an electromagnet 19, and the knock pin 20 extends to implement limiting. As shown in fig. 10.

Example six:

the embodiment shown in fig. 11 is a modification of the fifth embodiment. Fig. 11 is a top cross-sectional view of the supply station 1. The recovery compartment 16 is provided on the bridge deck 15. When the robot unit 2 is recovered, the bridge approach plate 15 and the recovery tank 16 are deployed together, and one end of the bridge approach plate 15 contacts the working surface.

Embodiment seven:

referring to fig. 3 and 4, as a specific application of the present invention, the aforementioned robot system is applied to the field of cleaning building walls. The robot units 2 are used as wall cleaning robots, the work executing device is used as a wall cleaning device, the walking working surfaces of the robot units 2 are vertical or inclined building walls 5, and the traction device comprises a winch 6. In this embodiment, the walking surfaces of the supply station 1 and the plurality of robot units 2 are building walls 5. A hoist 6 is arranged at the top B of the building, and the hoist 6 pulls the supply station 1 to move up and down along the wall surface through a hanging rope 7. The plurality of robot units 2 are wall cleaning robots for cleaning the wall surfaces of buildings, and cleaning devices 8 are arranged on the wall cleaning robots. The robot units 2 are attached to the wall surface 5 through the adsorption devices 4 to walk. A water source supply (not shown in the figures) is provided at the supply station 1. The water source supply may be a water tank provided on the supply station 1 and a pressurized water pump that delivers water from the water tank under pressure to the robot unit 2. The water source supply may be a continuous pressurized water source obtained from the outside (e.g., roof) through a raw material delivery line, and the water source is delivered to the robot unit 2 through a raw material transfer line on the supply station 1. The connection cable 3 includes a branch power cable and a branch water pipe, and the supply station 1 supplies cleaning water to each robot cell 2 through the branch water pipe.

An imaging device 9 and a robot wireless ranging signal station 10 are also arranged on the plurality of robot units 2. The image shot by the camera device 9 is transmitted to a remote control system through a wireless transmitting device, and the image is used for assisting an operator in monitoring and controlling. A plurality of wireless positioning devices 11 communicating with the robot wireless ranging signal station 10 are arranged on the building for acquiring the position of the robot unit.

Example eight:

in the fifth and sixth embodiments, the robot unit 2 is housed in the supply station 1, and the robot unit 2 and the supply station' 1 are integrated. However, the design of the recovery tank and access panel complicates the structure of the supply station and increases the weight. The present embodiment proposes a modification. The specific implementation mode is as follows: on the supply station 1 and on the several robot units 2 are respectively provided mutually connectable and disconnectable connection means 21. The connection means 21 comprises a hook 22 rotatably provided on the supply station 1, and a hook ring 23 provided on the robot unit 2 to be connected to and disconnected from the hook 22. The connection means 21 allow the supply station 1 and the robot unit 2 to be connected and disconnected to each other. A schematic of this embodiment is shown in fig. 12. A rotatable hook 22 is provided on the supply station 1 and a hook loop 23 is provided on the robot unit 2. When the robot unit 2 approaches the supply station 1, the hooks 22 rotate and catch the hook rings 23, completing the interconnection of the robot unit 2 and the supply station 1. In the interconnected state, the supply station 1 may pass through a recessed channel with the robot unit 2, or may ensure that the robot unit 2 does not fall out in case of complete loss of power or malfunction of the robot unit 2. The interconnection means can have various designs, for example: the hooks are provided on the robot unit, the hook loops are provided on the supply station, and for example, the supply station and the robot unit are provided with magnetic attraction members that attract each other, respectively, and the mutual connection is achieved by the magnetic attraction.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims

1. The multifunctional robot system is characterized by comprising a movable supply station, a plurality of robot units and a traction device for driving the supply station to move, wherein the supply station is provided with a power supply system; the supply station is respectively connected with each robot unit through a connecting cable, the connecting cable comprises a branch power cable, and the power supply system respectively provides power flow for each robot unit through the branch power cable; the robot unit is provided with a robot driving device, a work executing device, a robot adsorbing device and a robot moving device, the robot driving device drives the robot moving device to enable the robot unit to move on a working surface, and the plurality of robot units are attached to the working surface through the robot adsorbing device to move; the plurality of robot units move on a horizontal plane or an inclined plane or a vertical plane or a top surface, and the supply station moves along with the plurality of robot units; the feeding station is further provided with a feeding station moving device and a feeding station adsorbing device, the feeding station adsorbing device adsorbs the feeding station on the working surface, and the feeding station moving device is contacted with the working surface so as to move the feeding station on the working surface; connecting devices which can be connected with and disconnected from each other are respectively arranged on the supply station and the plurality of robot units.

2. The multi-purpose robot system of claim 1, wherein at least one bridge plate is further provided on the supply station, at least a portion of the bridge plate being receivable and deployable on the supply station; when the bridge approach plate is in an unfolding state, at least one side edge of the bridge approach plate is placed on the working surface and is contacted with the working surface; the robot unit moves onto the bridge plate from one side edge in contact with the working surface, and then moves onto the working surface from the side edge of the other or same bridge plate in contact with the working surface.

3. The multi-purpose robot system of claim 1, wherein a recovery pod is further provided on the supply station, the recovery pod housing at least one robot unit that is movable from the work surface into the recovery pod for recovery and out of the recovery pod to the work surface.

4. The multi-purpose robot system of claim 2, wherein a recovery compartment is provided on the bridge deck, the recovery compartment accommodating at least one robot unit, the bridge deck being placed on the work surface with at least one side edge in contact with the work surface, the robot unit being movable from the work surface into the recovery compartment of the bridge deck for recovery and out of the recovery compartment of the bridge deck to the work surface.

5. The multi-purpose robot system of claim 2, wherein a recovery compartment is further provided on the supply station, the recovery compartment housing at least one robot unit that is movable from the work surface through the bridge deck into the recovery compartment of the supply station for recovery and out of the recovery compartment of the supply station to the work surface.

6. The multi-function robot system of claim 3 or 4 or 5, wherein a limiting device is provided at a side of the recovery compartment for limiting a position of the robot unit.

7. Use of a multifunctional robot system according to any one of claims 1 to 5, wherein the plurality of robot units are used as wall cleaning robots, the work execution device is used as a wall cleaning device, the running working surface of the plurality of robot units is a vertical or inclined building wall, the traction device comprises a winch, the winch is arranged at the top of the building, the winch pulls a supply station to move up and down along with the plurality of robot units through a hanging rope, the plurality of robot units perform cleaning operation on the building wall, the plurality of robot units are attached to the wall through an adsorption device thereof to run, a water source is arranged on the supply station, the connecting cable comprises a branch power cable and a branch water pipe, and the supply station supplies cleaning water to each robot unit through a branch water pipe.

8. The use of a multi-function robotic system as defined in claim 7 wherein camera means and a robotic wireless ranging signal station are also provided on said plurality of robotic units, said camera means capturing images transmitted to a remote control system by means of a wireless transmitting means, and wherein a wireless positioning means is provided on said building in communication with the robotic wireless signal station, said wireless positioning means also being controlled by the remote control system.

9. The multi-function robotic system of claim 1, wherein the connecting means includes hooks disposed on the supply station and hook loops disposed on the robotic unit that interconnect and decouple the hooks;

alternatively, the connecting means includes a hook provided on the supply station and a hook provided on the robot unit to be connected to and disconnected from the hook;

alternatively, the connection means includes magnetic attraction members provided on the supply station and the robot unit, respectively, to attract each other.