A four-legged negative pressure adsorption wall-climbing robot capable of transitioning between ground and wall

Abstract

The present invention discloses a four-legged negative pressure adsorption wall-climbing robot that can transition between the ground and the wall, which comprises: a torso module, which has two groups of torso modules and is arranged opposite to each other, and the ends of the torso modules that are far away from each other are respectively fixedly connected with joint seats, and each joint seat is provided with two mounting positions; a waist adjustment mechanism is connected between the two groups of torso modules and adjusts the opening and closing angles of the two groups of torso modules; a transition joint mechanism, which is grouped in pairs and is respectively installed on the mounting positions in a one-to-one correspondence, and the transition joint mechanism is connected with a swing end and an execution end, and the execution end is connected to the swing end for sliding up and down; a leg and foot mechanism, which has multiple groups of leg and foot mechanisms and is respectively fixedly connected to the execution end in a one-to-one correspondence, and each leg and foot mechanism is provided with a foot suction cup group, which contacts the wall, and the torso module is respectively connected with the waist adjustment mechanism, the transition joint mechanism, and the leg and foot mechanism by electrical signals to complete the command action. The present invention has high flexibility and can adapt to different environments.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a four-legged negative pressure adsorption wall-climbing robot capable of transitioning between the ground and the wall. Background Art

[0002] Wall-climbing robots, also known as wall-mobile robots, are a key branch of mobile robots. They are robots capable of climbing and performing tasks on vertical walls. Their high degree of automation and ability to replace humans in specialized situations have made them a research hotspot for scholars both domestically and internationally in recent years. Typical applications include replacing humans in high-altitude tasks such as cleaning high-rise buildings, painting and inspecting large oil tanks, rust removal on large ships, and bridge inspection. Wall-climbing robots have the potential to free humans from these repetitive and dangerous tasks.

[0003] In order to have a strong ability to overcome obstacles and adapt to various terrains, four-legged negative pressure adsorption wall-climbing robots are often designed. However, due to the difficulty in controlling the wall-climbing robots designed in this way, it is often difficult to move flexibly. Chinese patent CN202310004997, published on May 12, 2023, is titled "A Gecko-like Intelligent Bionic Robot". The application discloses an intelligent bionic gecko-like robot that can adsorb and climb on walls. Its disadvantage is that it is difficult to achieve transition crawling from the ground to the wall, and its overall flexibility is low.

[0004] Therefore, how to provide a flexible four-legged negative pressure adsorption wall-climbing robot that can transition between the ground and the wall is a problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention provides a four-legged negative pressure adsorption wall-climbing robot capable of transitioning between ground and wall, which utilizes two torso modules to achieve pitch changes of the robot, has strong flexibility, and can complete the robot's transition between ground and wall.

[0006] In order to achieve the above-mentioned object, the present invention adopts the following technical solution: a four-legged negative pressure adsorption wall-climbing robot capable of transitioning between ground and wall, comprising:

[0007] The trunk modules are provided in two groups and arranged opposite to each other. The ends of the trunk modules that are separated from each other are respectively fixedly connected to joint seats, and each joint seat is provided with two mounting positions.

[0008] A waist adjustment mechanism, which is connected between the two groups of torso modules and adjusts the opening and closing angles of the two groups of torso modules;

[0009] Transition joint mechanisms, the transition joint mechanisms are grouped in pairs and are mounted on the mounting positions in a one-to-one correspondence. The transition joint mechanisms are connected to a swing end and an execution end, and the execution end is connected to the swing end in an up-and-down sliding manner;

[0010] The leg and foot mechanisms have multiple groups and are fixedly connected to the execution end one by one. Each of the leg and foot mechanisms is provided with a foot suction cup group, which is in contact with the wall. The torso module is respectively connected with the waist adjustment mechanism, the transition joint mechanism, and the leg and foot mechanism by electrical signals to complete the command action.

[0011] The beneficial effects of the present invention are: the two torso modules are connected by a waist adjustment mechanism, the waist adjustment mechanism can change the opening and closing angles of the two torso modules, adapt to complex environments, facilitate the transition between the ground and the wall, and utilize the transition joint mechanism to realize the flexible adjustment of the position of the leg and foot mechanism to complete the robot's forward and wall suction process. The unique ground-to-wall transition method of the present invention can be flexibly moved in various environments.

[0012] Preferably, the torso module includes an installation shell, a single-chip microcomputer, an electromagnetic relay, a servo control board, a vacuum pump, a mobile power supply and an obstacle avoidance sensor. The single-chip microcomputer, the electromagnetic relay and the servo control board are fixedly connected in the installation shell, and the joint seat is bolted to one end of the installation shell. The electromagnetic relay and the servo control board are respectively connected to the electrical signals of the single-chip microcomputer, and the servo control board is respectively connected to the electrical signals of the waist adjustment mechanism, the transition joint mechanism and the leg and foot mechanism. The vacuum pump and the mobile power supply are respectively fixed on the outer walls of the installation shell, and the vacuum pump is connected to the electrical signals of the electromagnetic relay and is connected to the foot suction cup group to provide negative pressure adsorption force. The mobile power supply is electrically connected to the single-chip microcomputer to provide energy. The obstacle avoidance sensor is fixed between the two mounting positions of the joint seat and is connected to the electrical signals of the single-chip microcomputer.

[0013] The resulting technical effect is: the single-chip microcomputer is the control center of the entire robot, the vacuum pump is used to provide the adsorption force of the foot suction cup to complete the negative pressure adsorption of the robot, and the obstacle avoidance sensor is an ultrasonic sensor that can detect obstacles ahead, allowing the robot to move forward adaptively.

[0014] Preferably, the top bolts of the mounting shell are connected to a pump cover, the vacuum pump is located inside the pump cover, a battery box is fixed to the bottom of the mounting shell, and the mobile power supply is detachably connected to the battery box.

[0015] The resulting technical effect is: the pump cover and battery box are used to protect the vacuum pump and mobile power supply, the components are well installed in a concealed manner, and there is a certain drop protection effect.

[0016] Preferably, the waist adjustment mechanism includes a waist adjustment servo and a connecting plate, the waist adjustment servo is fixed to the other end of the mounting shell of one of the torso modules, and the connecting plate is fixed to the other end of the mounting shell of the other torso module. The connecting plate is a U-shaped plate, and the output shaft of the waist adjustment servo is connected to a steering wheel, and the steering wheel is fixed on the inner wall of the U-shaped plate. The waist adjustment servo is electrically connected to the servo control panel and controls the rotation angle of the connecting plate.

[0017] The resulting technical effect is: the waist adjustment motor is installed on the connecting plate using the steering wheel. When the servo output shaft rotates, the angle between the steering wheel and the connecting plate and the servo changes, thereby realizing the opening and closing angle adjustment of the two torso modules and improving the robot's passability.

[0018] Preferably, the transition joint mechanism includes a first adjusting servo, a servo bracket, a second adjusting servo, a joint bracket, a cam seat and a cam, the first adjusting servo is fixedly connected to the mounting position and is electrically connected to the servo control board by signals, the servo bracket is rotatably connected to both ends of the first adjusting servo and the rotation angle of the servo bracket is controlled by the output shaft of the servo, the servo bracket is a swing end, the joint bracket is fixed to the servo bracket, the second adjusting servo is fixed to the joint bracket and is electrically connected to the servo control board by signals, the cam is fixedly connected to the output shaft of the second adjusting servo, a slide groove is provided on the joint bracket, the cam seat is slidably connected to the slide groove, the cam seat is the execution end, the cam and the cam seat slide relative to each other, and the rotation of the cam causes the cam seat to slide in the slide groove.

[0019] The resulting technical effect is: the first adjusting servo realizes the swing of the servo bracket, and realizes the up and down swing of the leg-foot mechanism. The rotation of the cam will press down the cam seat, and the cam seat directly affects the position of the leg-foot mechanism. That is to say, the second adjusting servo is used to adjust the up and down movement of the leg-foot mechanism. At this time, the cam seat and the cam are always in high-pair contact. The rotation of the cam presses down the cam seat, thereby driving the leg-foot mechanism to move up and down.

[0020] Preferably, the leg-foot mechanism includes a leg assembly and a foot assembly, the leg assembly includes a leg rod, a leg-adjusting servo, an ankle-adjusting servo and a transition plate, the leg-adjusting servo and the ankle-adjusting servo are respectively fixed at both ends of the leg rod and are electrically connected to the servo control panel, the leg-adjusting servo and the ankle-adjusting servo are both rotatably connected with a transition plate, the transition plate on the leg-adjusting servo is fixed to the cam seat, and the transition plate on the ankle-adjusting servo is fixed to the foot assembly.

[0021] The resulting technical effect is: using the leg adjustment servo to adjust the position of the leg rod, and using the ankle adjustment mechanism to adjust the position of the foot assembly, the robot can move forward in the posture of a gecko.

[0022] Preferably, the foot assembly includes a tripod and a foot suction cup group, the tripod is fixedly connected to the transition plate on the ankle adjustment servo, and the multiple suction cups in the foot suction cup group are fixed one-to-one on the corners of the tripod, and the suction cups are connected to the vacuum pump pipeline.

[0023] The resulting technical effect is: the tripod is equipped with a foot suction cup group, and the foot suction cup group on each leg and foot mechanism is used to achieve ground and wall adsorption, thereby achieving ground and wall crawling.

[0024] Preferably, a hollow screw is fixedly connected to and communicated with the middle of the suction cup, the hollow screw is fixedly connected to the tripod, the hollow screw is communicated with a vacuum pump pipeline, and a rubber hose is sleeved on the outer side of the hollow screw. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is the overall structural diagram of a four-legged negative pressure adsorption wall-climbing robot capable of transitioning between ground and wall;

[0026] Figure 2 This is a schematic diagram of the trunk module connection of a four-legged negative pressure adsorption wall-climbing robot capable of transitioning between ground and wall;

[0027] Figure 3 Schematic diagram of the joint mechanism of a four-legged negative pressure adsorption wall-climbing robot capable of transitioning between ground and wall according to the present invention;

[0028] Figure 4 This is a schematic diagram of the installation of a cam seat of a four-legged negative pressure adsorption wall-climbing robot capable of transitioning between ground and wall;

[0029] Figure 5 This is a schematic diagram of the leg and foot mechanism of a four-legged negative pressure adsorption wall-climbing robot capable of transitioning between ground and wall;

[0030] Figure 6 A schematic diagram of a suction cup of a four-legged negative pressure adsorption wall-climbing robot capable of transitioning between ground and wall according to the present invention;

[0031] Figure 7 This is a control system diagram of a four-legged negative pressure adsorption wall-climbing robot capable of transitioning between ground and wall;

[0032] Figure 8 This is a schematic diagram of the ground crawling principle of a four-legged negative pressure adsorption wall-climbing robot capable of transitioning between ground and wall according to the present invention;

[0033] Figure 9 This is a schematic diagram showing the wall crawling principle of a four-legged negative pressure adsorption wall-climbing robot capable of transitioning between the ground and the wall according to the present invention.

[0034] 1 Torso module, 11 Mounting shell, 12 Single chip microcomputer, 13 Electromagnetic relay, 14 Servo control board, 15 Vacuum pump, 16 Power bank, 17 Pump cover, 18 Battery box, 19 Joint seat, 191 Mounting position, 2 Transition joint mechanism, 21 First adjustment servo, 22 Servo bracket, 23 Second adjustment servo, 24 Joint bracket, 25 Cam seat, 26 Cam, 27 Slide, 28 Guide rod, 3 Leg and foot mechanism, 31 Leg rod, 32 Leg adjustment servo, 33 Ankle adjustment servo, 34 Transition plate, 35 Tripod, 36 Foot suction cup assembly, 37 Hollow screw, 4 Waist adjustment mechanism, 41 Waist adjustment servo, 42 Connecting plate, 43 Steering wheel. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] See the attached Figures 1 to 9 According to an embodiment of the present invention, a four-legged negative pressure adsorption wall-climbing robot capable of transitioning between ground and wall is provided, comprising:

[0037] The trunk modules 1 are arranged in two groups facing each other. The ends of the trunk modules 1 that are separated from each other are fixedly connected to joint seats 19. Each joint seat 19 is provided with two mounting positions 191. The two mounting positions are spaced apart to provide installation space for other components.

[0038] The waist adjustment mechanism 4 is connected between the two groups of torso modules 1 and adjusts the opening and closing angles of the two groups of torso modules;

[0039] The transition joint mechanisms 2 are grouped in pairs and are mounted on the mounting positions 191 in a one-to-one correspondence. The transition joint mechanisms 2 are connected to a swing end and an execution end, and the execution end is connected to the swing end in a sliding manner.

[0040] The leg and foot mechanisms 3 have four groups and are fixedly connected to the execution end one by one, similar to the four legs of a gecko. Each leg and foot mechanism 3 is provided with a foot suction cup group 36. The foot suction cup group 36 contacts the wall to complete the wall climbing process. The torso module 1 is respectively connected with the waist adjustment mechanism 4, the transition joint mechanism 2, and the leg and foot mechanism 3 by electrical signals to complete the command action.

[0041] In other specific embodiments, the torso module 1 includes a mounting shell 11, a single-chip microcomputer 12, an electromagnetic relay 13, a servo control board 14, a vacuum pump 15, a mobile power supply 16 and an obstacle avoidance sensor. The single-chip microcomputer 12, the electromagnetic relay 13, and the servo control board 14 are fixedly connected in the mounting shell 11, and the joint seat 19 is bolted to one end of the mounting shell 11. The other ends of the two mounting shells are close to each other for easy installation of the waist adjustment mechanism 4. The electromagnetic relay 13 and the servo control board 14 are respectively connected to the single-chip microcomputer 12 for electrical signals, and the servo control board 14 are respectively connected to the single-chip microcomputer 12 for electrical signals. It is electrically connected to the waist adjustment mechanism 4, the transition joint mechanism 2, and the leg and foot mechanism 3. The vacuum pump 15 and the mobile power supply 16 are respectively fixed on the outer walls of the mounting shell 11. The vacuum pump 15 is electrically connected to the electromagnetic relay 13 and communicated with the foot suction cup group 36 to provide negative pressure adsorption force. The mobile power supply 16 is electrically connected to the single-chip microcomputer 12 to provide energy. The obstacle avoidance sensor is fixed between the two mounting positions of the joint seat 19 and is electrically connected to the single-chip microcomputer 12. The ultrasonic obstacle avoidance sensor gives the robot autonomous obstacle avoidance function. The overall torso module has a reasonable layout and a compact structure.

[0042] In other specific embodiments, the top bolts of the mounting shell 11 are connected with a pump cover 17, and the vacuum pump 15 is located on the inner side of the pump cover 17. The pump cover has a certain protective function to ensure the installation environment of the vacuum pump. The vacuum pump is a micro air pump. A battery box 18 is fixed to the bottom of the mounting shell 11, and the mobile power supply 16 is detachably connected to the battery box 18 to facilitate battery replacement.

[0043] The mobile power supply uses batteries, among which the 7.4V battery is connected to the servo controller through a wire to provide it with energy to drive the servo; the 12V power supply is connected to the vacuum pump to drive the vacuum pump to suck out the air between the suction cup and the contact surface to achieve negative pressure adsorption, thereby providing energy for the robot.

[0044] In some other embodiments, the waist adjustment mechanism 4 includes a waist adjustment servo 41 and a connecting plate 42. The waist adjustment mechanism is a pivoting mechanism for adjusting the opening and closing angles of the two torso modules. The waist adjustment servo 41 is fixed to the other end of one of the torso module mounting shells, and the connecting plate 42 is fixed to the other end of the other torso module mounting shell. The connecting plate 42 is a U-shaped plate. The output shaft of the waist adjustment servo 41 is connected to the steering wheel 43, and the steering wheel 43 is fixed to the inner wall of the U-shaped plate by screws. The entire waist adjustment servo is located on the inner side of the U-shaped connecting plate. The waist adjustment servo 41 is electrically connected to the servo control board 14 and controls the rotation angle of the connecting plate. That is, the output shaft of the waist adjustment servo drives the steering wheel to rotate, and then drives the connecting plate to rotate around the waist adjustment servo, thereby realizing the angle adjustment of the two torso modules.

[0045] In some other specific embodiments, the transition joint mechanism 2 includes a first adjusting servo 21, a servo bracket 22, a second adjusting servo 23, a joint bracket 24, a cam seat 25 and a cam 26. The first adjusting servo 21 is fixedly connected to the mounting position 191 and is electrically connected to the servo control board 14. The servo bracket 22 is rotatably connected to both ends of the first adjusting servo 21 and the rotation angle of the servo bracket is controlled by the output shaft of the servo. The servo bracket 22 is a swing end, so that the leg-foot mechanism 3 swings up and down. The joint bracket 24 is fixed on the servo bracket 22, the second adjusting servo 23 is fixed on the joint bracket 24 and is electrically connected to the servo control board 14. The cam 26 is fixedly connected to the output shaft of the second adjusting servo 23. A slide groove 27 is provided on the joint bracket 24, and the cam seat 25 is slidably connected in the slide groove 27. The cam seat 25 is the execution end, which is connected to the leg-foot mechanism and drives the leg-foot mechanism to move up and down. The cam 26 slides relative to the cam seat 25, and the rotation of the cam 26 causes the cam seat 25 to slide in the slide groove 27.

[0046] To ensure stable movement of the cam seat, a guide rod 28 is arranged in the slide groove 27, and there is a limit block on the top of the slide rod. The cam seat 25 is slidably connected to the guide rod 28. During the wall climbing process, in order to ensure that the cam seat and the cam are always in a high-pair contact state, a spring is arranged on the guide rod. Only after the cam is pressed down can the cam seat move in the slide groove, otherwise it returns to its original position, ensuring smooth crawling of the robot.

[0047] In other specific embodiments, the leg-foot mechanism 3 includes a leg assembly and a foot assembly. The leg assembly includes a leg rod 31, a leg adjusting servo 32, an ankle adjusting servo 33 and a transition plate 34. The leg adjusting servo 32 and the ankle adjusting servo 33 are respectively fixed at both ends of the leg rod 31 and are electrically connected to the servo control board 14. The leg adjusting servo 32 and the ankle adjusting servo 33 are both rotatably connected with a transition plate 34. The transition plate 34 on the leg adjusting servo 32 is fixedly connected to the cam seat 25, and the transition plate 34 on the ankle adjusting servo 33 is fixedly connected to the foot assembly. Under the action of the leg adjusting servo and the ankle adjusting servo, the legs and feet can swing back and forth, and the robot completes the crawling action imitating a gecko.

[0048] In some other specific embodiments, the foot assembly includes a tripod 35 and a foot suction cup group 36. The tripod 35 is fixedly connected to the transition plate 34 on the ankle adjustment servo 33. The multiple suction cups in the foot suction cup group 36 are fixed one-to-one on the corners of the tripod 35. The suction cups are connected to the vacuum pump 15 pipeline. The tripod provides an installation base for the foot suction cup group. The wall adsorption process is completed by using the multiple suction cups on each foot, which has strong grip and is not easy to fall.

[0049] In other embodiments, the middle part of the suction cup is fixedly connected and communicated with a hollow screw 37, the hollow screw 37 is fixedly connected to the tripod 35, the hollow screw 37 is communicated with the vacuum pump 15 pipeline, and a rubber hose is provided on the outer side of the hollow screw 37. The hollow screw provides an installation environment for the suction cup, thereby realizing vacuum adsorption of the robot foot.

[0050] The robot's motion control is achieved through the collaboration of a single-chip microcomputer, electromagnetic relays, and a servo controller. The servo controller receives commands through serial communication with the single-chip microcomputer to drive the robot's servo. Simultaneously, the single-chip microcomputer controls the power supply of the vacuum pump via the electromagnetic relay, thereby achieving alternating states of adsorption and movement of the four legs.

[0051] Specifically, the MCU uses an Arduino UNO to communicate with the 16-channel servo control board via serial ports to receive and send commands, thereby achieving motion control for the robot. Simultaneously, the MCU uses a digital I / O interface to control the vacuum pump's power on and off via four electromagnetic relays.

[0052] The control scheme of the present invention is mainly divided into two parts, one is the steering gear control, and the other is the air pump control. According to the requirements of gait and adsorption, the control of the two parts needs to be coordinated with each other.

[0053] In actual use, the required action group for the servo controller should be designed and stored on the computer, and then the code that can call the servo controller action group should be burned into the Arduino microcontroller to realize action control.

[0054] Compared with the existing technology, the beneficial effects of the present invention are: while maintaining the advantages of the quadruped vacuum adsorption robot in crossing obstacles and adapting to various terrains, a new ground-to-wall transition method for the wall-climbing robot is adopted to effectively realize the transfer of the wall-climbing robot from the ground to the wall. The ground-to-wall transition method installs a waist adjustment mechanism for the robot, so that the two torso modules can bend freely. Compared with the existing ground-to-wall transition scheme, this method has lower requirements for the movement of the robot's four legs, can reduce the posture adjustment of the gecko-like robot, shorten the transition time, reduce energy consumption, and is easier to implement in control, while having higher ground-to-wall transition reliability. The present invention expands the application scope of the quadruped negative pressure adsorption wall-climbing robot and has promising practical exploration potential and application prospects.

[0055] Specific crawling process:

[0056] For typical locomotion on the ground or walls, the robot moves forward twice in one cycle. The first time, the robot's left front leg and right hind leg propel the body forward. The second time, the left front leg and right hind leg propel the body forward, with the left hind leg also providing auxiliary propulsion. The specific movement steps of the four legs in each forward movement vary depending on the environment, resulting in different gaits.

[0057] The change of the robot's crawling gait is to adapt to different movement surfaces, while ensuring the stability of the movement, and improving the movement efficiency. Therefore, two different crawling gaits are designed for the robot, namely the diagonal gait for ground crawling and the triangular gait for wall crawling. Figure 8 In the diagonal gait shown, a, b, and c are preparatory movements. Figure d enters the periodic gait movement. The robot moves two feet each time and supports the body with two legs in the diagonal direction. Figure 9 In the triangle gait shown, a, b, c, and d are preparatory movements. Figure e enters the periodic gait movement. The robot moves one foot at a time and uses the remaining three legs to support the body in a triangle shape.

[0058] The robot's ground-to-wall transition process can be summarized as follows: First, the robot crawls close to the wall, adjusting the distance between the robot and the wall. Then, the waist-adjusting servo 41 is actuated to cause the robot's front torso module 1 to pitch and flip upward. Next, the robot's transition joint mechanism 2 and leg-foot mechanism 3 are actuated to cause the foot suction cup assembly 36 to attach to the wall in a suitable position. Finally, the waist-adjusting servo 41 is actuated again to cause the robot's rear torso module 1 to flip and attach to the wall, completing the ground-to-wall transition.

[0059] As for the devices and methods of use disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the methods.

[0060] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A four-legged negative pressure adsorption wall-climbing robot capable of transitioning between ground and wall, characterized in that: include: Trunk modules (1), the trunk modules (1) having two groups and arranged opposite to each other, the ends of the trunk modules (1) being remote from each other being fixedly connected to joint seats (19), and each joint seat (19) being provided with two mounting positions (191); A waist adjustment mechanism (4), the waist adjustment mechanism (4) being connected between the two groups of torso modules (1) and adjusting the opening and closing angles of the two groups of torso modules; Transition joint mechanisms (2), the transition joint mechanisms (2) are grouped in pairs and are mounted on the mounting positions (191) in a one-to-one correspondence, the transition joint mechanisms (2) are connected to a swing end and an execution end, and the execution end is connected to the swing end in an up-and-down sliding manner; The leg-foot mechanism (3) has multiple groups and is fixedly connected to the execution end in a one-to-one correspondence. Each leg-foot mechanism (3) is provided with a foot suction cup group (36), and the foot suction cup group (36) contacts the wall. The trunk module (1) is respectively connected to the waist adjustment mechanism (4), the transition joint mechanism (2), and the leg-foot mechanism (3) via electrical signals and completes the command action. The leg-foot mechanism (3) includes a leg assembly and a foot assembly. The leg assembly includes a leg rod (31), a leg adjustment servo (32), an ankle The leg adjusting servo (32) and the ankle adjusting servo (33) are respectively fixed to the two ends of the leg rod (31) and are electrically connected to the servo control panel (14). The leg adjusting servo (32) and the ankle adjusting servo (33) are both rotatably connected to the transition plate (34). The transition plate (34) on the leg adjusting servo (32) is fixedly connected to the cam seat (25) on the transition joint mechanism (2). The transition plate (34) on the ankle adjusting servo (33) is fixedly connected to the foot assembly.

2. A four-legged negative pressure adsorption wall-climbing robot capable of transitioning between ground and wall according to claim 1, characterized in that: The trunk module (1) comprises a mounting housing (11), a single-chip microcomputer (12), an electromagnetic relay (13), a steering gear control board (14), a vacuum pump (15), a mobile power supply (16) and an obstacle avoidance sensor. The single-chip microcomputer (12), the electromagnetic relay (13) and the steering gear control board (14) are fixedly connected in the mounting housing (11). The joint seat (19) is bolted to one end of the mounting housing (11). The electromagnetic relay (13) and the steering gear control board (14) are respectively connected to the single-chip microcomputer (12) for electrical signals. The steering gear control board (14) is connected to the single-chip microcomputer (12) for electrical signals. The plate (14) is electrically connected to the waist adjustment mechanism (4), the transition joint mechanism (2), and the leg and foot mechanism (3), respectively. The vacuum pump (15) and the mobile power supply (16) are respectively fixed on the outer wall of the mounting shell (11). The vacuum pump (15) is electrically connected to the electromagnetic relay (13) and is connected to the foot suction cup group (36) to provide negative pressure adsorption force. The mobile power supply (16) is electrically connected to the single-chip microcomputer (12) to provide energy. The obstacle avoidance sensor is fixed between the two mounting positions of the joint seat (19) and is electrically connected to the single-chip microcomputer (12).

3. The four-legged negative pressure adsorption wall-climbing robot capable of transitioning between ground and wall according to claim 2, characterized in that: The top of the mounting shell (11) is bolted to a pump cover (17), the vacuum pump (15) is located on the inner side of the pump cover (17), a battery box (18) is fixed to the bottom of the mounting shell (11), and the mobile power supply (16) is detachably connected to the battery box (18).

4. The four-legged negative pressure adsorption wall-climbing robot capable of transitioning between ground and wall according to claim 3, characterized in that: The waist adjustment mechanism (4) comprises a waist adjustment steering gear (41) and a connecting plate (42), wherein the waist adjustment steering gear (41) is fixed to the other end of one of the trunk module mounting shells, and the connecting plate (42) is fixed to the other end of the other trunk module mounting shell, and the connecting plate (42) is a U-shaped plate, and the output shaft of the waist adjustment steering gear (41) is connected to a steering wheel (43), and the steering wheel (43) is fixed to the inner side wall of the U-shaped plate, and the waist adjustment steering gear (41) is electrically connected to the steering gear control board (14) and controls the rotation angle of the connecting plate.

5. The four-legged negative pressure adsorption wall-climbing robot capable of transitioning between ground and wall according to claim 4, characterized in that: The transition joint mechanism (2) comprises a first regulating servo (21), a servo bracket (22), a second regulating servo (23), a joint bracket (24), a cam seat (25) and a cam (26); the first regulating servo (21) is fixedly connected to the mounting position (191) and is electrically connected to the servo control panel (14); the servo bracket (22) is rotatably connected to both ends of the first regulating servo (21) and the rotation angle of the servo bracket is controlled by the output shaft of the servo; the servo bracket (22) is a swing end; the joint bracket (24) is fixed to the servo bracket The second regulating servo (23) is fixed on the joint bracket (24) and is electrically connected to the servo control board (14). The cam (26) is fixedly connected to the output shaft of the second regulating servo (23). The joint bracket (24) is provided with a slide groove (27). The cam seat (25) is slidably connected in the slide groove (27). The cam seat (25) is an execution end. The cam (26) slides relative to the cam seat (25). The rotation of the cam (26) causes the cam seat (25) to slide in the slide groove (27).

6. The four-legged negative pressure adsorption wall-climbing robot capable of transitioning between ground and wall according to claim 1, characterized in that: The foot assembly comprises a tripod (35) and a foot suction cup group (36). The tripod (35) is fixedly connected to a transition plate (34) on an ankle adjustment servo (33). A plurality of suction cups in the foot suction cup group (36) are fixed on the corners of the tripod (35) in a one-to-one correspondence. The suction cups are connected to a vacuum pump (15) pipeline.

7. The four-legged negative pressure adsorption wall-climbing robot capable of transitioning between ground and wall according to claim 6, characterized in that: The middle of the suction cup is fixedly connected and communicated with a hollow screw (37), the hollow screw (37) is fixedly connected to the tripod (35), the hollow screw (37) is communicated with a vacuum pump (15) pipeline, and a rubber hose is sleeved on the outer side of the hollow screw (37).

Images