A stiffness-controllable ankle device for a climbing robot

Abstract

The application discloses a stiffness-controllable ankle joint device for a climbing robot, relates to the field of climbing robots, and comprises a soft multi-cavity element and matched parts, a ball blocking mechanism and an attached end, one end of the ball blocking mechanism is connected with the soft multi-cavity element and matched parts, and the other end of the ball blocking mechanism is connected with the attached end. The ankle joint device is actively controllable, complete in function, large in variable stiffness range, small in structure and compact in structure, and can realize the change of joint stiffness by using very small air pressure, so that the requirement of the pneumatic system of the robot is low, and the control is simple. The structural stiffness of the ankle joint device is actively regulated, the low stiffness state meets the adaptability requirement of the contact between the attached end and a wall surface, the high stiffness state meets the accuracy and high efficiency requirement of transmission when the attached end is detached from the wall surface, and the ankle joint realizes the realizability of a complex end trajectory.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of climbing robots, and particularly to a stiffness-controllable ankle joint device for a climbing robot. BACKGROUND

[0002] A climbing robot is a special robot with full-space movement and work capability. It is flexible in movement, strong in sensing ability and strong in environmental adaptability, and can carry corresponding execution elements on an unstructured surface to complete specific tasks. In view of the functional requirements of the climbing robot, the whole robot is developing towards intelligence and miniaturization. This puts forward new requirements and challenges to the function and structure of the climbing robot body. In the face of the design requirements of small, actively controllable climbing robot functional components, the design requirements also appear.

[0003] The gait of the climbing robot mainly includes the following three stages: adhesion, support and detachment. In the flexible adhesion end adhesion stage, due to the low structural stiffness and material stiffness of the flexible adhesion end itself, large assembly error and movement error, the adhesion end needs to move at a given contact angle and contact trajectory to achieve good adhesion effect, etc., the ankle joint should be in a very low structural stiffness at this time; when the adhesion is completed, the robot single leg drives the robot whole machine center of mass to move, and the rotation freedom of rotating around the wall normal axis should be provided between the small leg and the adhesion end which has completed adhesion, at this time the ankle joint should still be in a low stiffness state; when the support stage is completed, the adhesion end needs to be detached, in order to make the adhesion end detach with low detachment force and large detachment speed, the adhesion end should be detached at a given detachment angle and detachment trajectory, at this time the accuracy and efficiency of the transmission from the small leg to the adhesion end should be ensured, and the ankle joint should be in a high stiffness state.

[0004] In view of the unstructured and unknown nature of the running environment and the work surface of the climbing robot, the adhesion end of the climbing robot and the robot single leg are often configured with flexible elements during the design process. On the one hand, it is to meet the adhesion and detachment conditions of the adhesion end of the climbing robot (the adhesion end adheres and detaches at a given angle and movement trajectory to achieve low pre-press adhesion and rapid detachment effect); on the other hand, it meets the adaptability of the robot in wall movement and work and the inclusiveness of the movement error of the flexible adhesion end in wall movement, the climbing robot single leg structure will be allocated two or three passive adaptive degrees of freedom at the ankle joint during the design process, but in view of the contradiction between the functional complexity and the structural miniaturization of the climbing robot, the existing passive adaptive ankle joint is of constant stiffness, which is composed of constant stiffness flexible elements, which greatly restricts the gait optimization and structural design of the climbing robot. Therefore, it is urgent to design a passive ankle joint with adjustable stiffness to meet the needs of the existing climbing robot. SUMMARY

[0005] The present application aims to provide a stiffness-controllable ankle joint device for a climbing robot, solve the problem that the passive adaptive ankle joints equipped on the single leg of the existing climbing robot are mostly of fixed stiffness, which greatly restricts the wall operation and gait optimization of the climbing robot.

[0006] To solve the above technical problems, the present application adopts the following technical solutions:

[0007] The present application is a stiffness-controllable ankle joint device for a climbing robot, which comprises a soft multi-cavity element and its matching parts, a ball blocking mechanism, and an attached end.

[0008] Preferably, the soft multi-cavity element is composed of multiple structurally similar cavities, including three groups of cavities, i.e., an outer cavity group, a middle cavity group, and an inner cavity group, arranged along the circumferential diameter direction, six groups of cavities arranged equidistantly along the circumferential direction, and the cavities are interconnected through circumferential and radial air paths, and the top of the soft multi-cavity element is uniformly arranged with six ring groove-shaped air holes, which are communicated with the middle cavity group.

[0009] Gaps are left between the cavity walls of the cavities, and the cavity walls are respectively attached with a first adhesive material, the inner wall of the soft multi-cavity element is provided with a helical return spring mounting groove, and the outer wall of the soft multi-cavity element is provided with a limiting layer.

[0010] Preferably, the matching parts of the soft multi-cavity element include a return spring, a mounting plate, and a calf leg rod, the mounting plate is glued and fixed between the soft multi-cavity element and the ball blocking mechanism, and the mounting plate is provided with a return spring upper mounting seat.

[0011] The top of the calf leg rod is provided with a mounting disc and a mounting hole, the top of the mounting hole penetrates through the mounting disc, the mounting disc is glued and fixed at the bottom of the soft multi-cavity element, the mounting disc is provided with a return spring lower mounting seat, a return spring is glued and fixed between the return spring upper mounting seat and the return spring lower mounting seat, and the return spring is connected in the return spring mounting groove.

[0012] Preferably, the ball blocking mechanism includes a ball shell air bag, a ball shell, an outer limiting shell, and a ball assembly, the ball shell air bag is embedded in the ball shell, the outer surface of the ball shell is glued with the outer limiting shell, and the ball assembly is rotatably connected in the ball shell air bag.

[0013] Preferably, three convex chambers are evenly distributed on the cylindrical surface in the spherical shell air bag, the convex surface of the convex chamber is a deformable surface, the deformable surface is provided with a second adhesive material, and the outer surface of the spherical shell air bag is provided with an air hole.

[0014] Preferably, the spherical shell is composed of left-right symmetrical split structures, including an upper plate, a lower plate and connecting columns, a plurality of the connecting columns are fixed between the upper plate and the lower plate, the spherical shell air bag is embedded between the upper plate and the lower plate, and the connecting columns are embedded between the convex cavities of the spherical shell air bag.

[0015] Preferably, the spherical body assembly includes a spherical body and a rod, the spherical body is embedded in the spherical shell air bag, and the spherical body and the outer limiting shell form a spherical hinge pair, the outer surface of the spherical body is provided with a third adhesive material, and the end of the rod is installed in the installation hole of the lower leg leg rod through the installation plate and the soft multi-cavity element; the second adhesive material and the third adhesive material cooperate to complete the adhesion and detachment work.

[0016] Preferably, six annular holes are circumferentially and uniformly arranged on the installation plate and the lower plate respectively, and six cavity holes are circumferentially and uniformly arranged on the bottom of the spherical shell air bag; the annular groove-shaped air hole, the annular hole and the cavity hole are matched and communicated together.

[0017] Preferably, the air hole is connected with a pneumatic system outside.

[0018] Preferably, the soft multi-cavity element and the spherical shell air bag are made of super-elastic material.

[0019] Compared with the prior art, the present application has the beneficial technical effects that:

[0020] The present application is a stiffness-controllable ankle joint device for a climbing robot. The present application combines the design concepts of bionic structure, micro functional parts and flexible parts. The ankle joint device is actively controllable, complete in function, large in variable stiffness range, small in structure, and requires a small air pressure to change the joint stiffness, which is low in requirement for the pneumatic system of the robot and simple in control. The structural stiffness of the ankle joint device is actively regulated. The low stiffness state meets the adaptability requirement of the adhering end in contact with the wall surface, and the high stiffness state meets the accuracy and efficiency requirement of the transmission when the adhering end is detached from the wall surface, so as to realize the realizability of the ankle joint for a complex end trajectory. The variable stiffness ankle joint controlled by the pneumatic system can greatly reduce the driving source and control elements, and enhance the compactness of the overall robot body. BRIEF DESCRIPTION OF DRAWINGS

[0021] The present application will be further described below in combination with the drawings.

[0022] Figure 1 Fig. 1 is a schematic diagram of a whole ankle joint device with controllable rigidity for a climbing robot according to the present application;

[0023] Figure 2 Fig. 5 is an axial sectional view of a soft multi-cavity element according to the present application;

[0024] Figure 3 Fig. 5 is an axial sectional view of a soft multi-cavity element according to the present application;

[0025] Figure 4 Fig. 5 is an axial sectional view of a soft multi-cavity element according to the present application;

[0026] Figure 5 Fig. 9 is an exploded view of a ball blocking mechanism according to the present application;

[0027] Figure 6 Fig. 9 is an exploded view of a ball blocking mechanism according to the present application;

[0028] Figure 7 Fig. 5 is an axial sectional view of a soft multi-cavity element according to the present application;

[0029] Figure 8 Fig. 5 is an axial sectional view of a soft multi-cavity element according to the present application;

[0030] Figure 9 Fig. 1 is a schematic diagram of a whole ankle joint device with controllable rigidity for a climbing robot according to the present application.

[0031] Fig. 1 is a schematic diagram of a whole ankle joint device with controllable rigidity for a climbing robot according to the present application.

[0032] 2, ball blocking mechanism; 21, ball shell air bag; 211, second adhesive material; 212, air hole; 213, deformable surface; 22, ball shell; 23, outer limiting shell; 24, ball assembly; 241, third adhesive material; 242, ball; 243, rod; 3, attachment end. DETAILED DESCRIPTION

[0033] In order to make the technical problems, technical solutions and beneficial effects of the present application more clear, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application, and are not used to limit the present application.

[0034] As Figures 1-9As shown, a stiffness-controllable ankle joint device for a climbing robot comprises a soft multi-cavity element 1 and its supporting parts, a ball blocking mechanism 2 and an attached end 3, one end of the ball blocking mechanism 2 is connected to the soft multi-cavity element 1 and its supporting parts, and the other end of the ball blocking mechanism 2 is connected to the attached end 3.

[0035] Specifically, the attached end 3 is made of flexible material and is the execution end of the climbing robot, which can realize the expected deformation under the condition of changing pressure in the cavity, complete the active controllable adhesion and detachment process, and is fixed at the interface with the variable stiffness assembly by adhesive bonding. The adhesion part of the attached end includes bionic dry adhesion material, negative pressure suction cup and hook, so as to realize good adhesion effect such as low pre-pressure, high adhesion and strong anti-interference.

[0036] The soft multi-cavity element 1 is composed of a plurality of cavities with similar structures, including three groups of cavities, i.e. outer cavity group 113, middle cavity group 117 and inner cavity group 118, arranged along the circumferential diameter direction, six groups of cavities arranged equidistantly along the circumferential direction, and the cavities are communicated with each other through circumferential gas path and radial gas path 114. The top of the soft multi-cavity element 1 is uniformly arranged with six ring groove-shaped air holes, and the ring groove-shaped air holes are communicated with the middle cavity group 117.

[0037] There is a gap 116 between the cavity walls of the cavities, and the first adhesion material 115 is attached to the cavity walls respectively. The inner wall of the soft multi-cavity element 1 is provided with a helical return spring mounting groove, and the outer wall of the soft multi-cavity element 1 is provided with a limiting layer 111.

[0038] Specifically, a single soft multi-cavity element 1 is divided into a plurality of cavities, which are uniformly arranged into six groups in the circumferential direction and three groups in the radial direction. The cavities are communicated with each other through the gas path, but the cavity walls are separated from each other. The cavity wall, outer cavity wall 112 and inner cavity wall 119 of a single cavity are in the form of inwardly folded to increase the deformation of the soft multi-cavity element under axial force and reduce the stiffness of the soft multi-cavity element under normal pressure.

[0039] Specifically, the gap 116 ensures that the three-directional rotational stiffness of the soft multi-cavity element under normal pressure is low enough. The limiting layer 111 is made of inextensible fabric and is used to limit the radial and circumferential deformation of the soft multi-cavity element 1 after inflation under positive pressure, so as to concentrate the positive pressure force between the cavity walls of the inner cavity and increase the variable stiffness effect of the soft multi-cavity element. At the same time, the inextensible limiting layer 111 is soft in texture and will not affect the structural stiffness of the soft multi-cavity element in the initial state.

[0040] As shown in the drawings, Figure 7As shown in the figure, the soft multi-cavity element 1 includes a return spring 11, a mounting plate 12 and a calf leg 13. The mounting plate 12 is glued and fixed between the soft multi-cavity element 1 and the ball blocking mechanism 2. The mounting plate 12 is provided with a return spring upper mounting seat.

[0041] As shown in the figure, Figure 8 The top of the calf leg 13 is provided with a mounting disc 131 and a mounting hole 132. The top of the mounting hole 132 penetrates the mounting disc 131. The mounting disc 131 is glued and fixed at the bottom of the soft multi-cavity element 1. The mounting disc 131 is provided with a return spring lower mounting seat. The return spring upper mounting seat and the return spring lower mounting seat are glued and fixed with the return spring 11. The return spring 11 is connected in the return spring mounting groove.

[0042] Specifically, the return spring 11 is a variable pitch spring. The spiral line of the variable pitch spring is matched with the return spring groove in the soft multi-cavity element 1. The main function of the return spring 11 is to drive the spherical shell air bag 21 and the spherical shell 22 to return to the initial position after the deformation of the soft multi-cavity element is completed, so as to ensure the normal next step of the robot. The variable pitch spring is used to realize the rigid-flexible coupling effect in combination with the soft multi-cavity element 1.

[0043] Specifically, the calf leg 13 drives the attached foot to move along the preset track on one hand, and acts as a mounting bracket of the ankle joint ball hinge pair ball to fix and support the ball hinge ball on the other hand.

[0044] As shown in the figure, Figure 5 , Figure 6 The ball blocking mechanism includes a spherical shell air bag 21, a spherical shell 22, an outer limiting shell 23 and a ball assembly 24. The spherical shell air bag 21 is embedded in the spherical shell 22. The outer surface of the spherical shell 22 is glued with the outer limiting shell 23. The ball assembly 24 is rotatably connected in the spherical shell air bag 21.

[0045] Specifically, the main function of the outer limiting shell 23 is to limit the deformation of the spherical shell air bag 21 along the radial and circumferential direction of the ball, to ensure that the internal force of the spherical shell air bag 21 after deformation is concentrated on the deformable surface 213 of the spherical shell air bag 21, and to protect the ankle joint device from interference and damage from external factors. The main function of the spherical shell 22 is to form a ball hinge pair with the ball assembly 24, to limit the deformation of the spherical shell air bag 21, and to provide a mounting bracket for the spherical shell air bag 21.

[0046] The cylindrical surface in the spherical shell air bag 21 is uniformly provided with three outer convex chambers. The convex surface of the outer convex chamber is a deformable surface 213. The deformable surface 213 is provided with a second adhesive material 211. The outer surface of the spherical shell air bag 21 is provided with a gas hole 212. The gas hole 212 is in communication with the outer convex chamber.

[0047] Specifically, the deformable surface 213 is the main deformation site when the cavity pressure changes, and is also the main site of the gas pressure action of the spherical shell air bag 21. The deformation of the other surfaces of the spherical shell air bag 21 is limited by the outer limiting shell 23 or the spherical shell 22; the number of the air holes 212 is one. The air holes serve as the air inlet when the pneumatic system supplies air to the flexible elements of the entire ankle joint, including the soft multi-cavity element 1 and the spherical shell air bag 21. The air holes 212 are integrally formed with the spherical shell air bag 21.

[0048] As shown in Figure 5 The spherical shell 22 is composed of left and right split structures, including an upper plate, a lower plate, and connecting columns. A plurality of the connecting columns are fixed between the upper plate and the lower plate. The spherical shell air bag 21 is embedded between the upper plate and the lower plate. The connecting columns are embedded between the outer convex cavities of the spherical shell air bag 21.

[0049] Specifically, the spherical shell 22 is fixed by using the gluing method during assembly.

[0050] The spherical body assembly 24 includes a spherical body 242 and a rod 243. The spherical body 242 is embedded in the spherical shell air bag 21. The spherical body 242 and the outer limiting shell 23 form a spherical hinge pair. The outer surface of the spherical body 242 is provided with a third adhesive material 241. The end of the rod 243 passes through the mounting plate 12, the soft multi-cavity element 1, and is mounted in the mounting hole 132 of the lower leg leg rod 13. The second adhesive material 211 and the third adhesive material 241 cooperate to complete the adhesion and detachment work.

[0051] Specifically, under normal pressure, the deformable surface 213 of the spherical shell air bag 21 and the outer surface of the spherical body 242 are separated from each other. The adhesive materials attached between the two are detached from each other. The spherical body 242 can freely rotate in the spherical shell 22. The resistance between the spherical body 242 and the spherical shell 22 is very small. When the gas pressure in the cavity increases, the deformation and expansion force of the spherical shell air bag 21 act on the deformable surface 213 of the spherical shell air bag 21, which is pressed against the outer surface of the spherical body 242. The second adhesive material 211 on the deformable surface 213 and the third adhesive material 241 on the outer surface of the spherical body 242 form adhesion, which enhances the friction and adhesion between the spherical shell air bag 21 and the outer surface of the spherical body 242. The adhesion friction between the first adhesive material 115 and the gas expansion force greatly increase the load bearing capacity of the soft multi-cavity element when bearing axial force and circumferential force, and greatly improve the stiffness of the ankle joint.

[0052] When the ankle joint device is switched from the high-rigidity state to the low-rigidity state, the cavity of the spherical shell air bag 21 is first in a negative pressure state, at which time the cavity is retracted, the cavity walls are separated from each other, and the first adhesive material 115 is also separated, and the ankle joint device is switched to the low-rigidity state;

[0053] Six annular holes are uniformly arranged on the mounting plate 12 and the lower plate respectively, and six cavity holes are uniformly arranged on the bottom of the spherical shell air bag 21 in a circumferential direction, and the ring groove-shaped air hole, the annular hole and the cavity hole are matched and communicated together.

[0054] Specifically, the soft multi-cavity element 1 and the ball blocking mechanism 2 are mutually coordinated and matched to realize variable rigidity in different mechanisms, and the combined variable rigidity effect is good, the ankle joint device can realize a large variable rigidity range, and the air paths between the two components are communicated, which can greatly simplify the structure design and electrical design of the air path.

[0055] The air hole 212 is connected with an air system outside. Specifically, a complete air system including an air pump, an electromagnetic valve and an air bag is arranged on the robot body, the air system has the function of outputting controllable air pressure (including positive pressure, normal pressure and negative pressure) and the output port of the air system is fixedly connected with the air hole 212 on the spherical shell air bag through an air pipe.

[0056] The soft multi-cavity element 1 and the spherical shell air bag 21 are made of super-elastic material, which has great motion error absorption capacity, low initial rigidity, strong deformability, is convenient for structure design and iterative optimization of the ankle joint device, and has soft material texture and high elongation at break, so it can withstand high pressure and realize the required deformation under small air pressure in the cavity, and the control is simple and the requirement for the air system of the robot body is low.

[0057] The ankle joint device with controllable rigidity uses air pressure change as a control signal for state switching, and uses the air control system arranged on the robot body, which can greatly improve the compactness of the whole machine structure, and is conducive to the coordination between the robot system and the miniaturization development of the robot.

[0058] The ankle joint device with controllable rigidity mentioned in the application is a passive ankle joint with active regulation, which can achieve good coordination with the motion control of the robot body, and is beneficial to the improvement of the motion ability of the climbing robot and the optimization of the gait.

[0059] The use process of the application is as follows:

[0060] When the climbing robot works on the wall surface, the attachment end 3 is in contact with the target surface, the ankle joint is in a low stiffness state, the cavity of the ankle joint is in a normal pressure state under the initial condition, the soft multi-cavity element 1 is in a low stiffness state, there is a large gap between the cavity walls, the first adhesive material 115 attached to the cavity wall does not form adhesion, and the friction between the cavity walls is small when the attachment end performs axial and circumferential rotation. When the attachment end 3 is subjected to an external force, the soft multi-cavity element 1 deforms under the action of the external force to meet the requirements of high adaptability and movement freedom of the flexible attachment end when contacting the wall surface and supporting on the wall surface.

[0061] The flexible element of the ball blocking mechanism, i.e. the cavity of the spherical shell air bag 21 is in a normal pressure state, the deformable surface 213 of the spherical shell air bag 21 is separated from the outer surface of the ball 242, the second adhesive material 211 on the deformable surface 213 does not form adhesion with the third adhesive material 241 on the outer surface of the ball 242, and the resistance of the spherical shell 22 to rotation in three directions around the ball is small when the attachment end 3 is subjected to an external force, thereby meeting the high adaptability requirement of the flexible attachment end when contacting the wall surface and supporting on the wall surface.

[0062] In the detachment process of the attachment end 3, in order to meet the detachment characteristics of the attachment component and achieve rapid and low-impact detachment with a preset movement trajectory, the joint needs to be in a high stiffness state. At this time, the pneumatic system fills the spherical shell air bag 21 and the soft multi-cavity element 1 with gas through the air holes in the joint, and the gas pressure in the cavities of the soft multi-cavity element 1 and the spherical shell air bag 21 increases. After reaching the preset gas pressure, the individual chambers of the multi-cavity structure in the cavity of the soft multi-cavity element expand, the adjacent chamber walls are pressed against each other, the first adhesive material 115 attached to the cavity walls forms stable adhesion, and the adhesion friction between the cavity walls makes it difficult for the soft multi-cavity element 1 to deform in the joint circumferential and axial directions under the action of an external force, i.e. the three-way rotational stiffness of the ankle joint is greatly improved.

[0063] The gas path of the ball blocking mechanism 2 and the soft multi-cavity element 1 is communicated, the spherical shell air bag 21 expands after reaching the preset pressure in the cavity, the gas pressure mainly acts on the deformable surface 213 of the spherical shell air bag, the cavity walls are pressed tightly against the outer surface of the ball 242, the second adhesive material 211 on the deformable surface 213 forms stable adhesion with the third adhesive material 241 on the outer surface of the ball 242, so that the spherical shell does not rotate relative to the ball joint ball when subjected to a certain degree of external force, and the ankle joint is in a high stiffness state at this time. The joint action of the soft multi-cavity element and the ball blocking mechanism can ensure that the ankle joint with variable stiffness reaches a relatively high stiffness state to meet the high stiffness requirement of the attachment end in the detachment process.

[0064] It is to be noted that, in the present text, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0065] The above-described embodiments are merely preferred ways of implementing the present application, and are not intended to limit the scope of the present application. Any modifications and improvements made by those skilled in the art to the technical solutions of the present application without departing from the design spirit of the present application shall fall within the scope of protection of the present application.

Claims

1. A stiffness-controllable ankle device for a climbing robot, characterized by: It comprises a soft multi-cavity element (1) and its supporting parts, a ball blocking mechanism (2) and an attached end (3), one end of the ball blocking mechanism (2) is connected with the soft multi-cavity element (1) and its supporting parts, the other end of the ball blocking mechanism (2) is connected with the attached end (3); The supporting parts of the soft multi-cavity element (1) comprise a mounting plate (12) and a calf leg rod (13); The soft multi-cavity element (1) is composed of a plurality of cavities with similar structures, including three groups of cavities, i.e. an outer cavity group (113), a middle cavity group (117) and an inner cavity group (118) arranged along the circumferential diameter direction, six groups of cavities arranged equidistantly along the circumferential direction, the cavities are communicated with each other through circumferential air paths and radial air paths (114), the top of the soft multi-cavity element (1) is uniformly provided with six ring groove-shaped air holes, the ring groove-shaped air holes are communicated with the middle cavity group (117); Gaps (116) are left between the cavity walls of the cavities, the cavity walls are respectively attached with first adhesive materials (115), the inner wall of the soft multi-cavity element (1) is provided with a helical return spring mounting groove, the outer wall of the soft multi-cavity element (1) is provided with a limiting layer (111); The ball blocking mechanism comprises a ball shell air bag (21), a ball shell (22), an outer limiting shell (23) and a ball assembly (24), the ball shell air bag (21) is embedded in the ball shell (22), the outer surface of the ball shell (22) is glued with the outer limiting shell (23), the ball assembly (24) is rotatably connected in the ball shell air bag (21); The cylindrical surface in the ball shell air bag (21) is uniformly provided with three outer convex cavities, the convex surface of the outer convex cavities is a deformable surface (213), the deformable surface (213) is provided with a second adhesive material (211), the outer surface of the ball shell air bag (21) is provided with an air hole (212), the air hole (212) is communicated with the outer convex cavities; The ball assembly (24) comprises a ball (242) and a rod (243), the ball (242) is embedded in the ball shell air bag (21), and the ball (242) and the outer limiting shell (23) form a spherical hinge pair, the outer surface of the ball (242) is provided with a third adhesive material (241), the end of the rod (243) penetrates through the mounting plate (12), the soft multi-cavity element (1) is mounted in the mounting hole (132) of the calf leg rod (13); the second adhesive material (211) and the third adhesive material (241) cooperate with each other to complete the adhesion and detachment work.

2. The stiffness-controllable ankle device for a climbing robot according to claim 1, characterized by: The supporting parts of the soft multi-cavity element (1) further comprise a return spring (11), the mounting plate (12) is glued and fixed between the soft multi-cavity element (1) and the ball blocking mechanism (2), the mounting plate (12) is provided with a return spring upper mounting seat; The top of the calf leg rod (13) is provided with a mounting disc (131) and a mounting hole (132), the top of the mounting hole (132) penetrates the mounting disc (131), the mounting disc (131) is fixed on the bottom of the soft multi-cavity element (1) by gluing, a return spring lower mounting seat is arranged on the mounting disc (131), a return spring upper mounting seat and the return spring lower mounting seat are fixed with a return spring (11) by gluing, and the return spring (11) is connected in the return spring mounting groove.

3. The stiffness-controllable ankle device for a climbing robot according to claim 2, characterized by: The spherical shell (22) is composed of split structures which are symmetrical left and right, including an upper plate, a lower plate and connecting columns, a plurality of connecting columns are fixed between the upper plate and the lower plate, the spherical shell air bag (21) is embedded between the upper plate and the lower plate, and the connecting columns are embedded between the outer convex cavities of the spherical shell air bag (21).

4. The stiffness-controllable ankle device for a climbing robot according to claim 3, characterized by: Six annular holes are uniformly arranged on the mounting plate (12) and the lower plate respectively, six cavity holes are uniformly arranged on the bottom of the spherical shell air bag (21), and the ring groove-shaped air holes, the annular holes and the cavity holes are matched and communicated together.

5. The stiffness-controllable ankle device for a climbing robot according to claim 1, characterized by: The air hole (212) is connected with a pneumatic system.

6. The stiffness-controllable ankle device for a climbing robot according to claim 1, characterized by: The soft multi-cavity element (1) and the spherical shell air bag (21) are made of super-elastic material.

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