CN209719773U

CN209719773U - One kind is from climbing robot omnidirectional barrier getting over mechanism

Info

Publication number: CN209719773U
Application number: CN201920526704.0U
Authority: CN
Inventors: 郑宏远
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-04-17
Filing date: 2019-04-17
Publication date: 2019-12-03
Anticipated expiration: 2029-04-17

Abstract

The utility model discloses a kind of from climbing robot omnidirectional barrier getting over mechanism, including translational power mechanism, lifting drive mechanism, main sucker, two accessory suckers, it can turning and running mechanism and controller, translational power mechanism and lifting drive mechanism are all connected with controller, translational power mechanism includes sliding block, horizontally arranged translation bar and translational drive mechanism, translational drive mechanism is connected between sliding block and translation bar, sliding block relative translation bar moves reciprocatingly, lifting drive mechanism includes slide unit, vertically to lifting arm and lift drive mechanism, slide unit is fixedly connected with sliding block, lift drive mechanism is connected between slide unit and lifting arm, slide unit moves reciprocatingly relative to lifting arm, the main sucker direct or indirect connection can turning and running mechanism and lifting arm.The barrier getting over mechanism breaches existing robot can not cross the limitation of vertical barrier in the horizontal direction, balance robot and cross generated twisting resistance when crossing vertical barrier in horizontal direction.

Description

One kind is from climbing robot omnidirectional barrier getting over mechanism

Technical field

The utility model belongs to the technologies necks such as window wiping robot, wall spraying robot and high building curtain wall detection robot Domain, and in particular to a kind of from climbing robot omnidirectional barrier getting over mechanism.

Background technique

The jobs that requires special skills work such as curtain cleaning, curtain wall detection and the spraying of skyscraper have high security risk and skill Art difficulty, but for a long time, due to the limitation of working environment complicated multiplicity and technical conditions, can only come in a manual manner At dangerous, cost is very high, effect is also very limited, and with the increase of building height, such case can be more serious.This Outside, this work is easy to cause secondary injury to ground staff.With quickling increase for skyscraper quantity, urgent need one Kind can carry operational module on curtain wall to substitute this work by the wall device of climbing of automatically walk.

Climbing robot is a kind of robot that absorption and movement can be realized on the vertical wall surface of high building.At present both at home and abroad There is a variety of climbing robots and the window wiping robot developed based on them (wiping window module+climbing robot), generally Bracketing can be divided into from climbing robot and by two class of climbing robot of External cable dragging, the former itself includes wall surface simultaneously Four classes such as absorption, mobile and obstacle climbing ability, including polypody sucked type, monomer walking, wriggling absorption type and catamaran type, Hou Zheben Body only has wall adsorption ability, and mobile and obstacle detouring is realized by external force completely.Due to technical difficulty, operating rate demand and safety Etc. factors limitation, up to the present, wall surface fast obstacle be still limit climbing robot development and application critical bottleneck. All does not have quick omnidirectional's obstacle climbing ability from wall-climbing device per capita, and the climbing robot by External cable dragging is then complete It can not work in reverse slope or the wall surface of curtain wall construction complexity, and hang outstanding shape completely since such robot can be generated in obstacle detouring State, the common crosswind of high building wall are easy to that its swing is made to rush at building wall surface and cause serious accident, cause it can not Expanded and application.

Therefore breaking through from the fast and reliable more barrier technique of climbing robot is that robot substitution belling the cat property of the mankind is high High altitude operation task key.Four classes have a characteristic that from climbing robot according to structure difference

A. polypody sucked type: the main component for providing suction is sucker, and suction production principle is vibration absorption, macromolecule power Absorption and Electrostatic Absorption etc., can be realized movement in all directions and obstacle detouring, but speed is very slow, poor reliability, and cannot Cross slightly higher window frame or step.The technical side as disclosed in patent application publication CN104983369A and CN205574093U Although case, robot described in patent application publication CN104983369A have obstacle climbing ability but can only slowly move on wall surface It is dynamic, and obstacle detouring is slow in one's movements and unstable.

B. monomer walking: current mainstream, the main component for providing suction is vacuum generator, negative pressure generator and rotation Wing etc., suction production principle are that negative-pressure adsorption, vacuum suction, positive pressure absorption and magnetic suck etc. are several, be can be realized in no window frame It adsorbs and fast moves on wall surface, but can not reliably surmount obstacles (protrusion and sunk structure etc. of window frame or wall surface).Such as Patent Applications ZL01267909.7, application publication number CN105799805A and application publication number CN202669947 are disclosed Technical solution, although the walking that robot described in application publication number CN105799805A can be stable on wall surface, It can only be moved on single sheet, not have more window frame ability.

C. wriggle absorption type: the main component for providing suction is sucker, can imitate the wriggling mode of snake to move and get over Barrier, the disadvantage is that movement speed is slow, structure is complicated.The modular small wall-climbing device as disclosed in patent No. ZL200710179041.1 Worm.

D. catamaran type: being linked together by joint by two monomer climbing robot modules and constituted, and absorption principle can be with It is any one of the modes such as negative-pressure adsorption, vacuum suction, positive pressure absorption and magnetic suck, such as patent application publication number Technical solution disclosed in CN104923507A and CN102211626A, machine disclosed in patent application publication CN104923507A Although device people can quickly walk on wall surface, and possess the ability for crossing horizontal obstacle (with a machine in adsorbed state Another robot monomer for closing adsorption function was lifted the mode of barrier to realize by device people monomer), but can not cross The obstacle of vertical direction.Main cause is when one of robot monomer is lifted, its own weight can be around torsion Be centrally formed biggish torsional moment, at this point, another be in the robot monomer in adsorbed state can only by each train with The moment of friction that wall surface generates is fought therewith, is difficult to balance, in fact, the adsorption capacity of existing adsorbing generator is limited, And obstacle is often very wide, it is meant that the two conditions cannot all be met, so and impracticable.

To sum up, the patent or product announced at present can not accomplish to keep high-speed mobile on wall surface, while realize omnidirectional Vertical obstacle (window frame and step) ability.It is specifically current to cross horizontal barrier in the height direction from climbing robot Hinder.Can not cross vertical barrier in the horizontal direction, and it is single move up and down with obstacle detouring because working efficiency is not high, automation Degree is low not to be approved and is promoted by market always.In addition, needing to be provided simultaneously with level for the oblique lattice wall surface in CCTV building etc With obstacle detouring is realized in short transverse, cause current any wall-climbing device that can not complete fast obstacle movement on it per capita.

Utility model content

In order to solve the above-mentioned problems of the prior art, the utility model aim is to provide a kind of from climbing robot Omnidirectional's barrier getting over mechanism.

The technology employed by the present utility model is a kind of dynamic from climbing robot omnidirectional barrier getting over mechanism, including translation Force mechanisms, lifting drive mechanism, main sucker, two accessory suckers, can turning and running mechanism and controller, translational power mechanism and liter Drop power mechanism is all connected with controller, and translational power mechanism includes sliding block, horizontally arranged translation bar and translation driving machine Structure connects translational drive mechanism between sliding block and translation bar, and sliding block relative translation bar moves reciprocatingly, and lifting drive mechanism includes sliding Platform, vertically to lifting arm and lift drive mechanism, slide unit is fixedly connected with sliding block, and elevator drive machine is connected between slide unit and lifting arm Structure, slide unit move reciprocatingly relative to lifting arm, main sucker direct or indirect connection can turning and running mechanism and lifting arm, pair inhale Disk is connect with translation bar, and main sucker is between accessory sucker, and main sucker is identical with the absorption direction of each accessory sucker.

Lift drive mechanism control lifting arm does lifting action and then controls accessory sucker and rises and falls.Wherein, main sucker and secondary suction Depending on the number of disk can according to need, to increase the suction of main sucker and the torque of required receiving, the number of main sucker can Think it is multiple, to offset turning during bring torque.

Further, barrier getting over mechanism further includes main adsorbing generator and seal assembly, and main adsorbing generator is connected to main suction On disk, main adsorbing generator connects controller, the movement that control sucker is inhaled and put, and main sucker is equipped with bracket, and motor is fixed In bracket, mechanism is walked in electric machine main shaft connection, and seal assembly is connected to main adsorbing generator.Walking mechanism includes wheel, synchronous belt Wheel and synchronous belt use synchronous belt pulley transmission between ipsilateral wheel.

The walking mechanism that can make the transition includes wheel, synchronous pulley and synchronous belt, and wheel connects synchronous pulley, and synchronous band connection is same Walk belt wheel.Synchronous pulley is equipped with wheel shaft, and wheel axis connection synchronous belt is known when needing conversion direction leaping over obstacles by controller Other obstacle direction, control wheel realize differential speed rotation, and walking mechanism, which is realized, to be turned to, when going to the required obstacle direction crossed over, Controller controls barrier getting over mechanism leaping over obstacles, and then realizes omnidirectional's obstacle detouring.

Further, main adsorbing generator and secondary adsorbing generator include vacuum pump or the impeller for being connected with power source.

Further, accessory sucker includes secondary adsorbing generator and seal assembly, and secondary adsorbing generator connects seal assembly.

Wherein, lift drive mechanism may include following several structure types:

Lift drive mechanism includes lead screw, motor and nut, and lead screw connects motor, and nut is fixedly connected with slide unit, in lead screw Heart line is parallel to elevating lever, screw rod attaching nut, and motor is directly or indirectly fixed on main sucker, and motor connects controller.

Lift drive mechanism includes gear, rack gear and motor, and gear connects electric machine main shaft, and rack gear is axially solid along lifting arm Fixed, wheel and rack engagement, gear shaft and slide unit are rotatablely connected, and motor connects controller.

Lift drive mechanism includes belt, main pulley, slave pulley and motor, and main pulley connects electric machine main shaft, main Belt is connected between belt pulley and slave pulley, belt is fixedly connected with slide unit, and motor connects controller.

Lift drive mechanism includes linear motor, linear motor direct or indirect connection lifting arm, linear motor main shaft company Slide unit is connect, linear motor connects controller.

According to above-mentioned barrier getting over mechanism, robot obstacle-detouring method includes the following steps:

The first step, before climbing robot is moved to barrier, main sucker is in absorption stationary state, each equal nothing of accessory sucker Adsorption capacity；

Second step, translational power mechanism drive translation bar to translate to the moving direction of robot, and then a pair is driven to inhale Disk is across barrier；

Third step, lifting drive mechanism drive each accessory sucker, translation bar and translational drive mechanism along lifting arm towards wall Face direction is mobile, is moved to accessory sucker and is in close contact with barrier wall surface, starts the adsorption function of accessory sucker, offset entire machine Gravity suffered by device people；

4th step closes the main adsorbing generator of main sucker, starts lifting drive mechanism, using reaction force, pulls nothing The main sucker of adsorbed state is lifted along the direction of lifting, until height is more than the height of barrier；

5th step, translational power mechanism drive main sucker, lifting drive mechanism, lifting arm and translation to drive using reaction force Motivation structure wants the direction of obstacle detouring to translate along translation bar to robot, until main sucker clears the jumps；

6th step, lifting drive mechanism drive main sucker, lift drive mechanism, lifting arm, translation bar using reaction force It is mobile to wall surface with translational drive mechanism, until main sucker and wall surface are in close contact, start the adsorbing generator of main sucker, until Until generating the adsorption capacity for offsetting entire robot gravity enough；

7th step, closes the adsorbing generator of all accessory suckers, starts lifting drive mechanism, drive lift drive mechanism, Accessory sucker, translation bar and translational drive mechanism are moved along lifting arm to the direction far from wall surface, until height is higher than barrier Until height.

The utility model relates to it is this from climbing robot omnidirectional barrier getting over mechanism, pass through the robot form of the composition and obstacle detouring Movement changes climbing robot severe force environment locating during obstacle detouring, and then breaches existing from wall-climbing device People can not cross the limitation of vertical barrier in the horizontal direction, realize real omnidirectional's fast obstacle and high-speed mobile, be Obstacle has been put down from the marketing of climbing robot.Formula technical pattern is chosen by using load, robot is balanced and crosses water Generated torsion force when square up over vertical barrier, and then realize omnidirectional's obstacle detouring on wall surface.

Detailed description of the invention

Fig. 1 is the utility model embodiment 1 from climbing robot omnidirectional barrier getting over mechanism structure chart；

Fig. 2 is the utility model embodiment 1 from climbing robot omnidirectional barrier getting over mechanism top view；

Fig. 3 is the utility model embodiment 1 from climbing robot omnidirectional barrier getting over mechanism side view；

The step of Fig. 4 is the utility model embodiment 1 from climbing robot omnidirectional barrier getting over mechanism leaping over obstacles figure；

Fig. 5 is the utility model embodiment 1 from the main sucker structure figure of climbing robot omnidirectional barrier getting over mechanism；

Fig. 6 is that 1 walking mechanism of the utility model embodiment turns to schematic diagram；

In figure: 1- accessory sucker；2- translates bar；The main sucker of 3-；4- translational power mechanism；5- lifting drive mechanism；6- lifting Bar；The main adsorbing generator of 7-；8- walking mechanism；9- sealing ring；10- adsorbing generator；11- sealing ring；12- decelerating motor；13- Bracket；14- synchronous pulley；15- wheel；16- synchronous belt.

Specific embodiment

The technical solution of the utility model is clearly and completely retouched below in conjunction with the drawings and specific embodiments It states, it will be appreciated by those skilled in the art that following, the embodiments are a part of the embodiments of the present invention, without It is whole embodiments, is merely to illustrate the utility model, and is not construed as limitation the scope of the utility model.It is practical based on this Embodiment in novel, every other reality obtained by those of ordinary skill in the art without making creative efforts Example is applied, is fallen within the protection scope of the utility model.The person that is not specified actual conditions in embodiment, according to normal conditions or manufacturer It is recommended that condition carry out.Reagents or instruments used without specified manufacturer is the routine that can be obtained by commercially available purchase Product.

It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the One ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.

In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary, It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition The concrete meaning of language in the present invention.

Embodiment 1

As shown in Figure 1, a kind of from climbing robot omnidirectional barrier getting over mechanism, including translational power mechanism 4, lifting drive mechanism 5, bar 2,6, two main sucker 3, lifting arm accessory suckers 1 are translated, translational power mechanism 4 includes sliding block, and lifting drive mechanism includes Slide unit is slidably connected between lifting arm between sliding block and translation bar with slide unit, and sliding block can realize reciprocal move along translation bar Dynamic, slide unit can move reciprocatingly along lifting arm, and slide unit rigid connection sliding block, two accessory suckers 1 are connected to translation bar, main sucker 3 are arranged between two accessory suckers, and lifting drive mechanism includes lifting arm, and lifting arm connects main sucker, and main sucker is in two Between accessory sucker 1, accessory sucker can be lifted off the adsorbed wall surface of accessory sucker 1, the absorption side of two accessory suckers by lifting arm It is identical to the absorption direction with main sucker.

The inside of slide unit connects lifting arm, and lifting arm is fixed, and slide unit can be moved along lifting arm, when the fixed lifting arm of slide unit When movable, by reaction force, lifting arm also can be along bar to moving reciprocatingly.

Main sucker 3 includes main adsorbing generator, seal assembly and walking mechanism, and main adsorbing generator 7 is connected to main sucker On, main sucker 3 is equipped with bracket, and motor is connected to bracket, and motor connects walking mechanism, and seal assembly is connected to main absorption and occurs Device 7.

Main adsorbing generator 7 includes vacuum pump or the impeller for being connected with power source.

Accessory sucker 1 includes secondary adsorbing generator and seal assembly, and secondary adsorbing generator connects seal assembly.

Secondary adsorbing generator 10 includes vacuum pump or the impeller for being connected with power source.

As shown in fig. 6, walking mechanism includes wheel, synchronous pulley and synchronous belt, wheel connects synchronous pulley, and synchronous belt connects Connect synchronous pulley.Synchronous pulley is equipped with wheel shaft, and wheel axis connection synchronous belt passes through control when needing conversion direction leaping over obstacles Device cognitive disorders direction, control wheel realize differential speed rotation, and walking mechanism, which is realized, to be turned to, the obstacle direction crossed over needed for going to When, controller controls barrier getting over mechanism leaping over obstacles, and then realizes omnidirectional's obstacle detouring.

Translational power mechanism 4 further includes with dynamic lead screw, and screw rod connecting band movable slider is moved along screw rod, and translation bar is Smooth lever or slideway.

Wherein, lift drive mechanism may include following several structure types:

In conclusion the realization principle cooperated between slide unit and lifting arm, sliding block and translation bar is identical, it is prismatic pair.Tool Body implementation mechanism may be set to be ball screw framework, spiral shell in addition to may be configured as gear and rack teeth mechanism or belt traction mechanism Parent phase realizes screw rod and moves up and down that nut connection slide unit, or both can be made one, and slide unit can move up and down, And then realize that sliding block, sliding bar and accessory sucker move up and down relative to lifting arm.Lift drive mechanism can also use straight-line electric Machine realizes above-mentioned movement, linear motor ontology direct or indirect connection lifting arm and electric machine main shaft direct or indirect connection slide unit, The relative motion between slide unit and lifting arm, sliding block and sliding bar can be achieved.This function can also be realized by multi-connecting-rod mechanism.

Barrier getting over mechanism is further described below:

A pair of of accessory sucker 1 is fixedly connected by translating bar 2, and 4 one side of translational power mechanism is fixed with lifting drive mechanism 5 On the other hand connection can cooperate with translation bar 2, the translation bar 2 direction alternating translational mobile relative to main sucker, lifting drive Mechanism 5 and lifting arm 6 cooperate, and drive a pair of of accessory sucker 1, the mobile force mechanisms 4 of 2 peace of translation bar past along the direction of lifting arm 6 It is multiple mobile, to realize contact and separating capacity of each sucker with wall surface.When climbing robot is walked, accessory sucker 2 needs and wall surface Separation, only main sucker are contacted with wall surface.

Further, accessory sucker 1 includes adsorbing generator 10 and seal assembly 11；Adsorbing generator 10 is that can make secondary suction Air pressure is consistently less than the generating device of atmospheric pressure in disk, can may be with dynamic impeller, sealing ring 11 for vacuum pump Effect be to guarantee as the few as possible gas leakage of sucker, robot accessory sucker has adsorption capacity, and adsorption capacity is able to bear entire machine Gravity suffered by device people.

In addition, main sucker 3 connects walking mechanism 8, relative to accessory sucker, main sucker is in addition to having adsorption capacity, it is also necessary to Walking mechanism 8 has the ability that entire robot ambulation is driven on wall surface；It is similar with accessory sucker structure, main adsorbing generator 7 Air pressure in accessory sucker can be made to be consistently less than atmospheric pressure.Main adsorbing generator 7 can be vacuum pump system, can also be by having The impeller of power realizes above-mentioned function.The effect of sealing ring 9 is to guarantee that main sucker is sealed, and prevents gas leakage, and walking mechanism can be with For wheeled or crawler type.

Translational power mechanism 4 can pull translation bar 2 to move back and forth, and can be set with dynamic lead screw and sliding block, put down Moving bar 2 is polished rod or slideway；It may also set up gear and rack teeth mechanism, also can be belt traction mechanism.

Lifting drive mechanism 5 can drive the peaceful mobile force mechanisms 4 of a pair of of accessory sucker 1, translation bar 2 along the side of lifting arm 6 To reciprocating movement.It can be by being realized with dynamic lead screw pair and sliding block, lifting arm 6 is polished rod or slideway at this time；Or Gear and rack teeth mechanism can also be belt traction mechanism.

As shown in figure 4, obstacle-detouring method includes the following steps:

So far, entire robot realizes the complete obstacle detouring process to barrier, and robot crosses perpendicular in the horizontal direction The process of straight obstacle object is consistent with the above process, and the difference and a big innovative point from other robot obstacle detouring processes are this specially Sharp robot in the horizontal direction obstacle detouring when can offset the powerful torsional moment generated during general robot obstacle detouring.

Under this uneven torsional moment, fierce torsion can occur in obstacle detouring for traditional catamaran type climbing robot Turn, be unable to complete obstacle detouring movement, and since kinetic force of friction is much smaller than stiction, climbing robot even keeps adsorbed state at this time It is all difficult, therefore do not have obstacle crossing function completely in the horizontal direction.

This patent climbing robot only has two accessory suckers of main sucker suction hanging in obstacle detouring.Main sucker is hanging a pair of secondary Sucker suction two states.Stress described in this patent when climbing robot obstacle detouring.

Under the former state, torsional moment caused by pair of right and left accessory sucker gravity can cleverly balance each other, and right In the latter's state, a pair of of accessory sucker never generates torsional moment when lifting main sucker on wall surface, therefore climbs described in this patent Wall robot has self-balancing torsional moment in obstacle detouring or eliminates the innate advantage of torsional moment.

It is acted by a set of cleverly robot form of the composition and obstacle detouring, changes climbing robot in obstacle detouring during institute The severe force environment at place, and then breach the existing limit that can not cross vertical barrier in the horizontal direction from climbing robot System, realizes real omnidirectional's fast obstacle and high-speed mobile, to have put down obstacle from the marketing of climbing robot.

By using load carrying type technical pattern, balances robot and cross and cross vertical barrier when institute in horizontal direction The torsion force of generation, and then realize omnidirectional's obstacle climbing ability on wall surface.

The utility model is not limited to above-mentioned optional embodiment, anyone can obtain under the enlightenment of the utility model Other various forms of products, however, making any variation in its shape or structure, all the utility model rights that falls into are wanted The technical solution in confining spectrum is sought, is all fallen within the protection scope of the utility model.

Claims

1. a kind of from climbing robot omnidirectional barrier getting over mechanism, it is characterised in that: including translational power mechanism, lifting drive mechanism, Main sucker, two accessory suckers, can turning and running mechanism and controller, translational power mechanism and lifting drive mechanism are all connected with control Device, translational power mechanism include sliding block, translation bar and translational drive mechanism, connect translational drive mechanism between sliding block and translation bar, Sliding block relative translation bar moves reciprocatingly, and lifting drive mechanism includes slide unit, vertically to lifting arm and lift drive mechanism, slide unit It is fixedly connected with sliding block, lift drive mechanism is connected between slide unit and lifting arm, slide unit moves reciprocatingly relative to lifting arm, the master Sucker direct or indirect connection can turning and running mechanism and lifting arm, accessory sucker with translation bar connect, main sucker is in accessory sucker Between, main sucker is identical with the absorption direction of each accessory sucker.

2. according to claim 1 from climbing robot omnidirectional barrier getting over mechanism, it is characterised in that: the barrier getting over mechanism also wraps Main adsorbing generator and seal assembly are included, main adsorbing generator is connected on main sucker, and main adsorbing generator connects controller, control The movement that sucker processed is inhaled and put, main sucker are equipped with bracket, and motor is fixed on bracket, and mechanism, sealing are walked in electric machine main shaft connection Component is connected to main adsorbing generator.

3. according to claim 2 from climbing robot omnidirectional barrier getting over mechanism, it is characterised in that: the walking mechanism includes Wheel, synchronous pulley and synchronous belt use synchronous belt pulley transmission between ipsilateral wheel.

4. according to claim 2 from climbing robot omnidirectional barrier getting over mechanism, it is characterised in that: the main adsorbing generator Including vacuum pump or it is connected with the impeller of power source.

5. according to claim 1 from climbing robot omnidirectional barrier getting over mechanism, it is characterised in that: the accessory sucker includes pair Adsorbing generator and seal assembly, secondary adsorbing generator connect seal assembly.

6. according to claim 5 from climbing robot omnidirectional barrier getting over mechanism, it is characterised in that: the lift drive mechanism Including lead screw, motor and nut, lead screw connects motor, and nut is fixedly connected with slide unit, and lead screw centerline parallel is in elevating lever, screw rod Attaching nut, motor are directly or indirectly fixed on main sucker, and motor connects controller.

7. according to claim 1 from climbing robot omnidirectional barrier getting over mechanism, it is characterised in that: the lift drive mechanism Including gear, rack gear and motor, gear connects electric machine main shaft, and rack gear is along lifting arm axial restraint, wheel and rack engagement, gear Axis and slide unit are rotatablely connected, and motor connects controller.

8. according to claim 1 a kind of from climbing robot omnidirectional barrier getting over mechanism, it is characterised in that: the lifting driving Mechanism includes belt, main pulley, slave pulley and motor, and main pulley connects electric machine main shaft, main pulley and slave pulley Between connect belt, belt is fixedly connected with slide unit, and motor connects controller.

9. according to claim 1 from climbing robot omnidirectional barrier getting over mechanism, it is characterised in that: the lift drive mechanism Including linear motor, linear motor direct or indirect connection lifting arm, linear motor main shaft connects slide unit, linear motor connection control Device processed.

10. according to claim 5 from climbing robot omnidirectional barrier getting over mechanism, it is characterised in that: the secondary absorption occurs Device includes vacuum pump or the impeller for being connected with power source.