Adhesion robot with high degree of freedom single-leg structure and large load capacity

Abstract

The present invention discloses an adhesive robot with a high degree of freedom single-leg structure and large load capacity, comprising a fuselage, a main control panel, a sub-control panel, a large-capacity lithium battery, four four-degree-of-freedom single legs and four small-sized force sensing integrated adhesive soles, wherein the four four-degree-of-freedom single legs are arranged in groups of two on the sides of the front and rear ends of the fuselage; the main control panel, the sub-control panel and the large-capacity lithium battery are all arranged on the fuselage, the main control panel is electrically connected to the sub-control panel, the large-capacity lithium battery is powered, and the four small-sized force sensing integrated adhesive soles are respectively arranged at the ends of the four four-degree-of-freedom single legs. Advantages: The four-degree-of-freedom single leg of the robot of the present invention increases the range of the shoulder joint to be lifted and lowered through the reasonable layout of each driving motor, so that the height of the fuselage can be freely adjusted; the integrated adhesive soles utilize the bionic dry adhesive material to exert the best adhesive performance, so that the small-sized soles can generate large adhesion force, and obtain the ability to support large-mass robots and large loads.

Description

Technical Field

[0001] The invention relates to the field of bionic robots, in particular to an adhesion robot with a high-freedom single-leg structure and a large load capacity. Background Art

[0002] Bionic adhesive robots have attracted more and more attention due to their unique wall-climbing ability and flexible movement ability. There are many adhesion principles for adhesive robots, mainly magnetic, pressure and dry adhesion. Relatively speaking, the foot mechanism using dry adhesive materials is the simplest and easiest to use, and has better versatility and adaptability.

[0003] The existing single-leg structure of robots generally has three active degrees of freedom, and the passive degrees of freedom of the wrist joint are often greatly restricted by the joint ball bearing or spring, resulting in poor adaptability of the adhesion end to different environments and substrate forms. In addition, the shoulder joint has very limited degrees of freedom, and it is impossible to achieve a large range of lifting or lowering of the fuselage.

[0004] At present, most wall-climbing robots using dry adhesive materials are characterized by light weight and light load. The main reason is that the single flexible or single rigid adhesive end structure cannot give full play to the adhesive performance of bionic dry adhesive materials. Although some adhesive mechanisms increase the number of adhesive ends or directly increase the adhesive material area of ​​the adhesive end to increase the adhesion force and achieve a large load, the key to improving the efficiency and stability of bionic adhesive robots is to efficiently utilize the adhesive performance of bionic dry adhesive materials to realize a large-mass and high-load adhesive robot. Summary of the invention

[0005] The purpose of the present invention is to propose an adhesion robot with a high-freedom single-leg structure and a large load capacity in response to the problems in the background technology. By improving the design of the adhesion terminal mechanism structure and increasing the single-leg degree of freedom, the flexibility of the robot's movement and its adaptability to the environment are improved, and the effective utilization rate of the adhesion material is increased, thereby enabling the adhesion wall-climbing robot to cope with large load tasks.

[0006] The technical solution adopted is: an adhesive robot with a high-freedom single-leg structure and a large load capacity, including a fuselage, a main control board, a sub-control board, a large-capacity lithium battery, four four-freedom single legs and four small-sized force sensing integrated adhesive soles, the four four-freedom single legs are divided into two groups and arranged on the sides of the front and rear ends of the fuselage, and the two four-freedom single legs in a group are symmetrical; the main control board, the sub-control board and the large-capacity lithium battery are all arranged on the fuselage, the main control board is electrically connected to the sub-control board, the large-capacity lithium battery is respectively connected to the main control board and the sub-control board for power supply, and the four small-sized force sensing integrated adhesive soles are respectively arranged at the ends of the four four-freedom single legs;

[0007] Each four-degree-of-freedom single leg includes a leg forward and backward rotation drive motor, a leg lifting and lowering drive motor, a foot forward and backward swinging drive motor, an adhesive foot left and right swinging drive motor, five motor connectors and an adhesive foot connector, the leg forward and backward rotation drive motor, the leg lifting and lowering drive motor, the foot forward and backward swinging drive motor and the adhesive foot left and right swinging drive motor are electrically connected to a sub-control board respectively, and a large-capacity lithium battery is respectively connected to the leg forward and backward rotation drive motor, the leg lifting and lowering drive motor, the foot forward and backward swinging drive motor and the adhesive foot left and right swinging drive motor for power supply;

[0008] The leg forward and backward rotating drive motor is fixed on the fuselage, and the motor shaft of the leg forward and backward rotating drive motor is perpendicular to the plane of the fuselage. The leg lifting and lowering drive motor is connected to the leg forward and backward rotating drive motor through a first motor connecting piece, and the motor shaft of the leg lifting and lowering drive motor is perpendicular to the motor shaft of the leg forward and backward rotating drive motor; the output end flange and the connecting end plate on the leg forward and backward rotating drive motor are fixed to the first motor connecting piece, the motor shell on the leg lifting and lowering drive motor is fixed to the first motor connecting piece, the output end flange and the connecting end plate on the leg lifting and lowering drive motor are respectively connected to one end of two second motor connecting pieces, and the other ends of the two second motor connecting pieces are respectively and symmetrically fixed to the motor shells on both sides of the foot forward and backward swinging drive motor, and the output end flange and the connecting end plate of the foot forward and backward swinging drive motor are both fixed to the third motor connecting piece. The motor shaft of the motor for driving the sole of the foot to swing forward and backward is perpendicular to the motor shaft of the motor for driving the leg to lift and lower. The upper motor housing of the motor for driving the sole of the foot to swing left and right is fixed on the third motor connector. The motor shaft of the motor for driving the sole of the foot to swing left and right is perpendicular to the motor shaft of the motor for driving the sole of the foot to swing forward and backward, and the motor shaft of the motor for driving the sole of the foot to swing left and right is parallel to the motor shaft of the motor for driving the leg to lift and lower. The connector for the sole of the foot to swing left and right is simultaneously connected to the output end flange and the connecting end plate of the motor for driving the sole of the foot to swing left and right. The small-size force sensing integrated sole of the sole of the foot is connected to the sole of the foot connector through the sole of the foot fixing pin.

[0009] Each small-sized force sensing integrated adhesive sole includes an upper calf sole unit connected to an adhesive sole connector, a middle sole flexible layer and a bottom adhesive material layer; the middle layer sole flexible layer is bonded to the lower surface of the sole in the calf unit, and the adhesive material layer is bonded to the lower surface of the sole flexible layer; the sole flexible layer is made of polydimethylsiloxane material, the thickness of the sole flexible layer is 5-10mm, and the sole flexible layer is bonded to the calf sole unit with room temperature curing silicone rubber; the adhesive material layer is made of bionic dry adhesive material, the thickness of the adhesive material layer is 0.5-2mm, and the adhesive material layer is bonded to the sole flexible layer by a mixed adhesive of dimethylsiloxane and silicon dioxide.

[0010] In the preferred embodiment of the technical solution of the present invention, the fuselage is composed of three carbon fiber plates, upper, middle and lower. The upper carbon fiber plate and the middle carbon fiber plate are connected by four single-leg fixings, and the four four-degree-of-freedom single legs are respectively connected to the four single-leg fixings; the middle carbon fiber plate and the lower carbon fiber plate are connected by multiple copper columns; the main control board is fixed on the upper surface of the middle carbon fiber plate, and the sub-control board and the large-capacity lithium battery are fixed on the upper surface of the lower carbon fiber plate. In the technical solution of the present invention, the battery fixing method uses nylon buckle, which is convenient for disassembly. The main control board and the sub-control board are fixed by metal copper columns, which is conducive to heat dissipation and firm.

[0011] In the technical solution of the present invention, the main control board performs calculations based on the feedback information from the sub-control board, and then sends command information to control the motor through the sub-control board. The sub-control board is used to connect the sensor and realize the communication between the main control board and the sensor and the motor.

[0012] In the preferred embodiment of the technical solution of the present invention, the calf sole unit is an aluminum alloy assembly, including a leg column, a pressure sensor for measuring the sole force of the robot, a pressure transmission cover, a spring, a rotating shaft, three passive degrees of freedom universal bearings and an aluminum alloy sole. The leg column is composed of two sub-leg columns connected together, the pressure sensor is installed between the two sub-leg columns, the two sub-leg columns restrict the pressure sensor, and the pressure sensor is electrically connected to the sub-control board; the two sub-leg columns are defined as an upper sub-leg column and a lower sub-leg column, and an axial step through hole is provided in the upper sub-leg column and the lower sub-leg column. The step through hole on the upper end face of the lower sub-leg column has a small diameter, and the pressure transmission cover is installed in the step through hole. Both plates of the pressure transmission cover are provided with a truncated cone, and one truncated cone extends out of the hole on the upper end face of the lower sub-leg column to abut against the measuring surface of the pressure sensor; the spring is installed in the step through hole, one end of the spring abuts against the other truncated cone of the pressure transmission cover, and the other end of the spring abuts against the upper end of the rotating shaft; the rotating shaft is installed in the step through hole, and the lower end of the rotating shaft is inserted into the shaft hole of the three passive degrees of freedom universal bearings, and the three passive degrees of freedom universal bearings are installed in the aluminum alloy sole. The calf sole unit is an aluminum alloy component, with a special calf sole unit structure. A pressure sensor is installed inside the upper part to measure the sole force of the robot, and a spring is installed inside the cylindrical cavity of the lower half of the structure. Connected to the spring is a rotating shaft of a columnar structure with a smaller diameter, and the lower end of the rotating shaft is inserted into the shaft hole of the three passive degrees of freedom universal bearings, so that the aluminum alloy leg column can change its height to a certain extent. Connected to the aluminum alloy leg column is a universal bearing with three passive degrees of freedom and an inner diameter of 5mm, which enables the sole of the foot to have a certain degree of adaptability when contacting surfaces with different degrees of inclination. And when the aluminum alloy leg column on the sole of the foot reaches the limit of the range of motion of the ball joint, the sole of the foot will change from a movable joint to a fixed joint, and the fixed joint can better apply force in a specific direction to the sole of the foot.

[0013] In a preferred embodiment of the technical solution of the present invention, a positioning truncated platform is arranged on the upper end surface of the rotating shaft, and the other end of the spring is inserted into the positioning truncated platform.

[0014] Preferably, a protruding column is provided on the top of the upper sub-leg column, and a pin hole for inserting and adhering a foot fixing pin is provided on the protruding column.

[0015] Preferably, the sole surface of the aluminum alloy sole is a round surface.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The robot of the present invention has a four-degree-of-freedom single leg, which greatly increases the range of lifting and falling of the shoulder joint through the reasonable layout of each driving motor, so that the height of the body can be freely adjusted; the small-sized force sensing integrated adhesive sole efficiently utilizes the bionic dry adhesive material to give full play to its best adhesion performance, and realizes that the small-sized sole generates a large adhesion force, thereby obtaining the ability to support a large-mass robot and a large load. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic structural diagram of the robot of the present invention.

[0019] Figure 2 It is a side view of the robot of the present invention.

[0020] Figure 3 This is the front view of the upper carbon fiber panel of the fuselage.

[0021] Figure 4 This is the front view of the middle carbon fiber panel of the fuselage.

[0022] Figure 5 This is the front view of the lower carbon fiber panel of the fuselage.

[0023] Figure 6 It is a schematic diagram of the assembly of a four-degree-of-freedom single leg and a small-size force sensor integrated with an adhesive sole.

[0024] Figure 7 is a schematic diagram of the first motor connection member.

[0025] Figure 8 is a schematic diagram of the second motor connection.

[0026] Fig. 9 is a schematic diagram of the third motor connection.

[0027] Fig.10 is a schematic diagram of the fourth motor connection.

[0028] Fig.11 This is the appearance diagram of the motor.

[0029] Fig.12 is a side view of the motor.

[0030] Fig.13Schematic diagram of the posture of the robot of this embodiment working in high space.

[0031] Fig.14 Schematic diagram of the posture of the robot of this embodiment working in a low space.

[0032] Fig.15 Schematic diagram of the posture of the robot of this embodiment working on an inclined surface.

[0033] Fig.16 It is a schematic diagram of the structure of a small-sized force sensor integrated adhesive sole.

[0034] Fig.17 This is an exploded view of the small-scale force sensing integrated adhesive sole.

[0035] Fig.18 It is a schematic diagram of the contracted state of the calf sole unit.

[0036] Fig.19 It is a schematic diagram of the calf sole unit in the extended state. DETAILED DESCRIPTION

[0037] The technical solution of the present invention is described in detail below, but the protection scope of the present invention is not limited to the embodiments.

[0038] To make the content of the present invention more clearly understood, the following Figure 1-Figure 19 The specific implementation manner is further described.

[0039] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0040] The present embodiment proposes an adhesion robot with a high-freedom single-leg structure and a large load capacity, comprising a body 1, a main control board 2, a sub-control board 3, a large-capacity lithium battery 4, four four-degree-of-freedom single legs 6 and four small-sized force sensing integrated adhesion soles 7, wherein the four four-degree-of-freedom single legs 6 are divided into groups of two and arranged on the side surfaces at the front and rear ends of the body 1, and the two four-degree-of-freedom single legs 6 in a group are symmetrical; the main control board 2, the sub-control board 3 and the large-capacity lithium battery 4 are all arranged on the body 1, the main control board 2 is electrically connected to the sub-control board 3, the large-capacity lithium battery 4 is respectively connected to the main control board 2 and the sub-control board 3 for power supply, and the four small-sized force sensing integrated adhesion soles 7 are respectively arranged at the ends of the four four-degree-of-freedom single legs 6.

[0041] like Figure 2 , 3As shown in , 4 and 5, the fuselage 1 is composed of three carbon fiber plates, the upper, middle and lower ones. The upper carbon fiber plate 1-1 and the middle carbon fiber plate 1-2 are connected by four single-leg fixings 5, and four four-degree-of-freedom single legs 6 are respectively connected to the four single-leg fixings 5; the middle carbon fiber plate 1-2 and the lower carbon fiber plate 1-3 are connected by multiple copper columns 1-4.

[0042] The main control board 2 is fixed on the upper surface of the middle carbon fiber board 1-2, and the sub-control board 3 and the large-capacity lithium battery 4 are fixed on the upper surface of the lower carbon fiber board 1-3.

[0043] The main control board calculates based on the feedback information from the sub-control board, and then sends command information to control the motor through the sub-control board. The sub-control board is used to connect sensors and realize communication between the main control board, sensors and motors.

[0044] In this embodiment, the main control board adopts the Raspberry Pi 4B model produced in the UK, and the sub-control board is composed of ARDUINO UNO and U2D2 produced by Dynamixel Company of South Korea; the two sub-control boards are used to connect sensors and realize the communication between the main control board and sensors and motors. The leg forward and backward rotation drive motor 6-1, the leg lifting drive motor 6-3, the foot forward and backward swing drive motor 6-5 and the adhesive foot left and right swing drive motor 6-7 are electrically connected to the U2D2 in the sub-control board.

[0045] In this embodiment, the large-capacity lithium battery 4 is fixed by a nylon buckle, which is convenient for disassembly. The buckle is directly fixed on the battery with a double-sided tape, and the other side of the buckle is glued to the body with glue.

[0046] like Figure 1 As shown, the four-degree-of-freedom single legs 6 are arranged symmetrically left and right and front and back with respect to the fuselage, such as Figure 6 As shown, each four-degree-of-freedom single leg 6 includes a leg forward and backward rotation drive motor 6-1, a leg lifting and lowering drive motor 6-3, a foot forward and backward swinging drive motor 6-5, an adhesive foot left and right swinging drive motor 6-7, five motor connectors and an adhesive foot connector 6-8.

[0047] The leg forward and backward rotating drive motor 6-1, the leg lifting and lowering drive motor 6-3, the foot forward and backward swinging drive motor 6-5 and the adhered foot left and right swinging drive motor 6-7 are respectively electrically connected to U2D2 in the sub-control board 3, and the large-capacity lithium battery 4 is respectively connected to the leg forward and backward rotating drive motor 6-1, the leg lifting and lowering drive motor 6-3, the foot forward and backward swinging drive motor 6-5 and the adhered foot left and right swinging drive motor 6-7 for power supply.

[0048] like Figure 6 , 7As shown in , 8, 9 and 10, the leg forward and backward rotation drive motor 6-1 is fixed on the fuselage 1, and the motor axis of the leg forward and backward rotation drive motor 6-1 is perpendicular to the plane of the fuselage. The leg lifting and lowering drive motor 6-3 is connected to the leg forward and backward rotation drive motor 6-1 through the first motor connector 6-2, and the motor axis of the leg lifting and lowering drive motor 6-3 is perpendicular to the motor axis of the leg forward and backward rotation drive motor 6-1; the output end flange and the connecting end plate on the leg forward and backward rotation drive motor 6-1 are fixed to the first motor connector 6-2, the motor shell on the leg lifting and lowering drive motor 6-3 is fixed to the first motor connector 6-2, the output end flange and the connecting end plate on the leg lifting and lowering drive motor 6-3 are respectively connected to one end of two second motor connectors 6-4, and the other ends of the two second motor connectors 6-4 are respectively symmetrically fixed to the motor shells on both sides of the sole forward and backward swinging drive motor 6-5, and the output end flange and the connecting end plate of the sole forward and backward swinging drive motor 6-5 are both fixed to the third motor connector 6-6. The motor shaft of the foot forward and backward swinging driving motor 6-5 is perpendicular to the motor shaft of the leg lifting and lowering driving motor 6-3; the motor housing of the adhesive foot left and right swinging driving motor 6-7 is fixed on the third motor connecting piece 6-6, the motor shaft of the adhesive foot left and right swinging driving motor 6-7 is perpendicular to the motor shaft of the foot forward and backward swinging driving motor 6-5, and the motor shaft of the adhesive foot left and right swinging driving motor 6-7 is parallel to the motor shaft of the leg lifting and lowering driving motor 6-3; the adhesive foot connecting piece 6-8 is simultaneously connected to the output end flange and the connecting end plate of the adhesive foot left and right swinging driving motor 6-7; the small-size force sensing integrated adhesive foot 7 is connected to the adhesive foot connecting piece 6-8 through the adhesive foot fixing pin 6-9.

[0049] like Fig.11 and 12 As shown, the leg forward and backward rotation drive motor 6-1, the leg lifting and lowering drive motor 6-3, the foot forward and backward swinging drive motor 6-5 and the foot adhering left and right swinging drive motor 6-7 are all purchased parts, which are directly purchased. In this embodiment, the high-performance intelligent motor model XM430-W350-R of South Korea's Dynamixel Company is preferably used.

[0050] The high degree of freedom of the single-leg structure in this embodiment, on the one hand, through the reasonable layout of the driving motors, greatly increases the range of the shoulder joint to rise and fall, so that the height of the fuselage can be freely adjusted. Fig.13 and Fig.14 The robot postures ① and ② are shown in the figure to cope with different motion spaces and special environments (such as low-height spaces, environments with large protrusions or obstacles on the ground, etc.). In addition, the single leg has four active degrees of freedom, which ensures that the sole of the foot at the end of the adhesion can keep the sole plane parallel to the base surface when dealing with different inclined surfaces, such as Fig.15 As shown in the figure, the robot posture is shown as ③, thereby improving the stability and adaptability of the robot's movement.

[0051] like Fig.13 As shown, each small-sized force sensing integrated adhesive sole 7 includes an upper calf sole unit connected to an adhesive sole connector 6-8, a middle sole flexible layer 7-8, and a bottom adhesive material layer 7-9; the middle sole flexible layer 7-8 is bonded to the lower surface of the sole in the calf unit, and the adhesive material layer 7-9 is bonded to the lower surface of the sole flexible layer 7-8. The sole flexible layer 7-8 is made of polydimethylsiloxane material, the thickness of the sole flexible layer 7-8 is 5-10mm, and the sole flexible layer 7-8 is bonded to the calf sole unit with room temperature curing silicone rubber. The adhesive material layer 7-9 is made of bionic dry adhesive material, the thickness of the adhesive material layer 7-9 is 0.5-2mm. The adhesive material layer 7-9 is bonded to the sole flexible layer 7-8 by a mixed adhesive of dimethylsiloxane and silicon dioxide.

[0052] like Fig.16 and 17 As shown, the calf sole unit is an aluminum alloy assembly, including a leg column 7-1, a pressure sensor 7-2 for measuring the plantar force of the robot, a pressure transmission cover 7-3, a spring 7-4, a rotating shaft 7-5, three passive degrees of freedom universal bearings 7-6 and an aluminum alloy sole 7-7.

[0053] The leg column 7-1 is composed of two sub-leg columns connected, and the pressure sensor 7-2 is installed between the two sub-leg columns. The two sub-leg columns restrict the pressure sensor 7-2, and the pressure sensor 7-2 is electrically connected to the sub-control board 3; the two sub-leg columns are defined as an upper sub-leg column and a lower sub-leg column, and an axial step through hole is provided in the upper sub-leg column and the lower sub-leg column. The diameter of the step through hole on the upper end face of the lower sub-leg column is small, and the pressure transmission cover 7-3 is installed in the step through hole. Both plates of the pressure transmission cover 7-3 are provided with A truncated cone is placed, one of which extends out of the empty hole on the upper end surface of the lower leg column to press against the measuring surface of the pressure sensor 7-2; the spring 7-4 is installed in the step through hole, one end of the spring 7-4 presses against the other truncated cone of the pressure transmission cover 7-3, and the other end of the spring 7-4 presses against the upper end of the rotating shaft 7-5; the rotating shaft 7-5 is installed in the step through hole, and the lower end of the rotating shaft 7-5 is inserted into the axial hole of the three passive degrees of freedom universal bearings 7-6, and the three passive degrees of freedom universal bearings 7-6 are installed in the aluminum alloy sole 7-7.

[0054] The calf sole unit is an aluminum alloy component with a special calf sole unit structure. A pressure sensor is installed inside the upper part to measure the robot's sole force. A spring is installed inside the cylindrical cavity of the lower part of the structure. Connected to the spring is a rotating shaft with a smaller diameter columnar structure. The lower end of the rotating shaft is inserted into the shaft hole of the three passive degrees of freedom universal bearings, so that the aluminum alloy leg column can change its height to a certain extent. Fig.18 and 19 shown.

[0055] Connected to the aluminum alloy leg column is a universal bearing with three passive degrees of freedom and an inner diameter of 5mm, which enables the sole of the foot to have a certain degree of adaptability when contacting surfaces with different degrees of inclination. And when the aluminum alloy leg column on the sole of the foot reaches the limit of the range of motion of the ball joint, the sole of the foot will change from a movable joint to a fixed joint, and the fixed joint can better apply force in a specific direction to the sole of the foot.

[0056] like Fig.17 As shown, in this embodiment, the upper end surface of the rotating shaft 7-5 is provided with a positioning round table, and the other end of the spring 7-4 is inserted into the positioning round table. The top of the upper sub-leg column is extended to provide a boss, and the boss is provided with a pin hole for inserting and adhering the sole fixing pin 6-9.

[0057] like Fig.17 As shown, the sole surface of the aluminum alloy sole 7-7 is a round surface. The sole flexible layer 7-8 of the middle layer is made of polydimethylsiloxane material, the thickness of the sole flexible layer 7-8 is 5-10mm, and the sole flexible layer 7-8 is bonded to the sole surface of the aluminum alloy sole 7-7 with room temperature curing silicone rubber.

[0058] In this embodiment, the flexible layer 7-8 of the sole of the foot is deformed by the action of four motors in the four-degree-of-freedom single leg 6, so that the flexible layer 7-8 of the sole of the foot is first desorbed in the area with greater deformation, thereby achieving the effect of gradually tearing the sole of the foot off the adhesive surface.

[0059] like Fig.17 As shown, the adhesive material layer 7-9 is made of bionic dry adhesive material, which is a known material and is directly purchased. The thickness of the adhesive material layer 7-9 is 0.5-2 mm. The adhesive material layer 7-9 is bonded to the sole flexible layer 7-8 by a mixed adhesive of dimethylsiloxane and silicon dioxide.

[0060] The small-sized force sensing integrated adhesive sole 7 efficiently utilizes the bionic dry adhesive material to give full play to its best adhesive performance, so that the small-sized sole can generate a large adhesion force, thereby obtaining the ability to support a large-mass robot and a large load.

[0061] In this embodiment, the small-sized force sensor is integrated with the sole 7, and the adhesion-desorption process is described as follows:

[0062] The adhesion-desorption process of the small-size force sensor integrated adhesive sole 7 is divided into three stages, namely, the adhesion initial contact stage, the support stage and the desorption stage.

[0063] During the robot's adhesion stage, the four motors in the four-degree-of-freedom single leg 6 move in coordination to make the sole plane parallel to the adhesion surface and fall vertically. The metal rods (leg column 7-1 and shaft 7-5) in the aluminum alloy calf sole unit in the small-sized integrated force sensor adhesion sole 7 transmit pre-pressure to the sole plane, so that the adhesion material can better fit with the adhesion surface.

[0064] During the robot's motion phase (support phase), the soles of the feet are firmly bonded to the adhesion surface, and the four motors rotate to pull the soles of the feet backwards to make the body move forward.

[0065] During the desorption stage, the four motors move in a coordinated manner, so that the leg column 7-1 and the rotating shaft 7-5 in the aluminum alloy calf sole unit move to the extreme position, and the metal sole changes from a movable part to a fixed part. The metal rods (leg column 7-1 and rotating shaft 7-5) at a certain inclination angle to the adhesion surface apply an illegal desorption force to the metal disc of the sole, causing the flexible layer of the sole in the middle of the sole to deform to varying degrees, causing the bottom adhesive material layer to desorb first in the area with greater deformation, thereby achieving the effect of gradually tearing the sole off the adhesion surface.

[0066] In this embodiment, the performance test results of the small-sized force sensor integrated adhesive sole 7 are as follows:

[0067] 1) The utilization rate of bionic dry adhesive materials has been significantly increased. From the test of effective adhesive area, we can see that the overall adhesive area can reach 70%-95% of the total area of ​​adhesive materials. The increase in effective adhesive area means an increase in the adhesive force when the robot uses its feet.

[0068] 2) From the adhesion test on the vertical plane, it can be seen that the maximum adhesion of a single foot is about 25N+4N (weight of a single leg), and the minimum adhesion is about 10N+4N (weight of a single leg).

[0069] The main control board, sub-control board, motor circuit, and sensor circuit involved in this embodiment are all known technologies in the technical field and will not be described in this embodiment.

[0070] The parts not involved in the present invention are the same as the prior art or can be implemented by using the prior art.

[0071] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes in form and details may be made without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. An adhesion robot with a high degree of freedom single-leg structure and large load capacity, characterized in that: The invention comprises a body (1), a main control panel (2), a sub-control panel (3), a large-capacity lithium battery (4), four four-degree-of-freedom single legs (6) and four small-sized force sensing integrated adhesive soles (7), wherein the four four-degree-of-freedom single legs (6) are arranged in groups of two on the side surfaces at the front and rear ends of the body (1), and the two four-degree-of-freedom single legs (6) in a group are symmetrical; the main control panel (2), the sub-control panel (3) and the large-capacity lithium battery (4) are all arranged on the body (1), the main control panel (2) is electrically connected to the sub-control panel (3), the large-capacity lithium battery (4) is respectively connected to the main control panel (2) and the sub-control panel (3) for power supply, and the four small-sized force sensing integrated adhesive soles (7) are respectively arranged at the ends of the four four-degree-of-freedom single legs (6); Each four-degree-of-freedom single leg (6) includes a leg forward and backward rotation drive motor (6-1), a leg lifting and lowering drive motor (6-3), a foot forward and backward swing drive motor (6-5), an adhesive foot left and right swing drive motor (6-7), five motor connectors and an adhesive foot connector (6-8). The leg forward and backward rotation drive motor (6-1), the leg lifting and lowering drive motor (6-3), the foot forward and backward swinging drive motor (6-5) and the attached foot left and right swinging drive motor (6-7) are respectively electrically connected to the sub-control board (3), and the large-capacity lithium battery (4) is respectively connected to the leg forward and backward rotation drive motor (6-1), the leg lifting and lowering drive motor (6-3), the foot forward and backward swinging drive motor (6-5) and the attached foot left and right swinging drive motor (6-7) for power supply; The leg forward and backward rotation driving motor (6-1) is fixed on the fuselage (1), the motor shaft of the leg forward and backward rotation driving motor (6-1) is perpendicular to the fuselage plane, the leg lifting and lowering driving motor (6-3) is connected to the leg forward and backward rotation driving motor (6-1) via a first motor connecting member (6-2), the motor shaft of the leg lifting and lowering driving motor (6-3) is perpendicular to the motor shaft of the leg forward and backward rotation driving motor (6-1); the output end flange and the connection end plate on the leg forward and backward rotation driving motor (6-1) are connected to the first motor connecting member (6-2). The motor housing of the leg lifting and lowering driving motor (6-3) is fixed to the first motor connecting member (6-2), the output end flange and the connecting end plate on the leg lifting and lowering driving motor (6-3) are respectively connected to one end of two second motor connecting members (6-4), the other ends of the two second motor connecting members (6-4) are respectively symmetrically fixed to the motor housings on both sides of the foot forward and backward swing driving motor (6-5), and the output end flange and the connecting end plate of the foot forward and backward swing driving motor (6-5) are both fixed to the third motor connecting member (6-6), The motor shaft of the foot forward and backward swing driving motor (6-5) is perpendicular to the motor shaft of the leg lifting and lowering driving motor (6-3); the motor housing of the adhesive foot left and right swing driving motor (6-7) is fixed on the third motor connecting member (6-6), the motor shaft of the adhesive foot left and right swing driving motor (6-7) is perpendicular to the motor shaft of the foot forward and backward swing driving motor (6-5), and the motor shaft of the adhesive foot left and right swing driving motor (6-7) is parallel to the motor shaft of the leg lifting and lowering driving motor (6-3); the adhesive foot connecting member (6-8) is simultaneously connected to the output end flange and the connection end plate of the adhesive foot left and right swing driving motor (6-7); the small-size force sensor integrated adhesive foot (7) is connected to the adhesive foot connecting member (6-8) through the adhesive foot fixing pin (6-9); Each small-sized force sensing integrated adhesive sole (7) comprises an upper calf sole unit connected to an adhesive sole connector (6-8), a middle sole flexible layer (7-8) and a bottom adhesive material layer (7-9); the middle sole flexible layer (7-8) is bonded to the lower surface of the sole in the calf unit, and the adhesive material layer (7-9) is bonded to the lower surface of the sole flexible layer (7-8); The sole flexible layer (7-8) is made of polydimethylsiloxane material, the thickness of the sole flexible layer (7-8) is 5-10 mm, and the sole flexible layer (7-8) is bonded to the calf sole unit using room temperature curing silicone rubber; The adhesive material layer (7-9) is made of bionic dry adhesive material, and the thickness of the adhesive material layer (7-9) is 0.5-2 mm. The adhesive material layer (7-9) is bonded to the sole flexible layer (7-8) through a mixed adhesive of dimethylsiloxane and silicon dioxide; The fuselage (1) is composed of three carbon fiber plates, namely, an upper, middle and lower carbon fiber plate; the upper carbon fiber plate (1-1) and the middle carbon fiber plate (1-2) are connected via four single-leg fixings (5); four four-degree-of-freedom single legs (6) are respectively connected to the four single-leg fixings (5); the middle carbon fiber plate (1-2) and the lower carbon fiber plate (1-3) are connected via a plurality of copper columns (1-4); The main control board (2) is fixed on the upper surface of the middle carbon fiber board (1-2), and the sub-control board (3) and the large-capacity lithium battery (4) are fixed on the upper surface of the lower carbon fiber board (1-3); The calf sole unit is an aluminum alloy assembly, including a leg column (7-1), a pressure sensor (7-2) for measuring the force of the robot's sole, a pressure transmission cover (7-3), a spring (7-4), a rotating shaft (7-5), three passive degrees of freedom universal bearings (7-6) and an aluminum alloy sole (7-7). The leg column (7-1) is formed by connecting two sub-leg columns, the pressure sensor (7-2) is installed between the two sub-leg columns, the two sub-leg columns restrict the pressure sensor (7-2), and the pressure sensor (7-2) is electrically connected to the sub-control board (3); the two sub-leg columns are defined as an upper sub-leg column and a lower sub-leg column, an axial step through hole is provided in the upper sub-leg column and the lower sub-leg column, the step through hole on the upper end surface of the lower sub-leg column has a small opening diameter, the pressure transmission cover (7-3) is installed in the step through hole, and a frustum is provided on both plate surfaces of the pressure transmission cover (7-3), A truncated cone extends out of the opening on the upper end surface of the lower sub-leg column and abuts against the measuring surface of the pressure sensor (7-2); a spring (7-4) is installed in the step through hole, one end of the spring (7-4) abuts against another truncated cone of the pressure transmission cover (7-3), and the other end of the spring (7-4) abuts against the upper end of the rotating shaft (7-5); the rotating shaft (7-5) is installed in the step through hole, the lower end of the rotating shaft (7-5) is inserted into the shaft hole of the three passive degrees of freedom universal bearing (7-6), and the three passive degrees of freedom universal bearing (7-6) are installed in the aluminum alloy foot (7-7).

2. The adhesion robot with a high degree of freedom single-leg structure and large load capacity according to claim 1, characterized in that: A positioning round platform is arranged on the upper end surface of the rotating shaft (7-5), and the other end of the spring (7-4) is inserted into the positioning round platform.

3. The adhesion robot with a high degree of freedom single-leg structure and large load capacity according to claim 1, characterized in that: A protruding column is extended from the top of the upper sub-leg column, and a pin hole for inserting and adhering a sole fixing pin (6-9) is provided on the protruding column.

4. The adhesion robot with a high degree of freedom single-leg structure and large load capacity according to claim 1, characterized in that: The sole surface of the aluminum alloy sole (7-7) is a round surface.

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