Bionic wall-climbing robot leg structure and operation method

Abstract

The bionic wall-climbing robot supporting leg structure and operation method belong to the field of robot components, and comprise a first steering engine, a non-rotation shaft end of the first steering engine is fixed on a wall-climbing robot body; a knee joint frame is fixed on a rotation shaft of the first steering engine, a non-rotation shaft end of a second steering engine is fixed on the knee joint frame, and a rotation shaft of the second steering engine can rotate relative to the knee joint frame; an ankle joint frame is fixed on the rotation shaft of the second steering engine; a ventilation pipe is rotatably connected to the ankle joint frame, an end of the ventilation pipe is connected with a vacuum suction cup, and the ankle joint frame is provided with a third steering engine for driving the vacuum suction cup to rotate; the wall-climbing robot body is provided with a grabbing and releasing assembly for enabling the vacuum suction cup to be adsorbed or opened; and an end face of an end of the ventilation pipe extending into a vacuum suction cup cavity is fixed with a plurality of laser sensors for detecting distance. The supporting leg structure can select to adsorb a surface and avoid being adsorbed at a joint of a glass curtain wall.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of robot components, and particularly relates to a bionic wall-climbing robot leg structure and an operating method thereof. BACKGROUND

[0002] With the continuous advancement of the social urbanization process, the number of high-rise buildings in urban areas gradually increases. Smooth glass curtain walls are used in these high-rise buildings to achieve the effects of window sealing and decoration.

[0003] There are many wall-climbing robots in existing devices, which can achieve the purposes of glass curtain wall detection, high-rise fire fighting, etc. These robots are divided into two categories: one is a tracked robot, and the other is a legged robot. The wall-climbing cleaning robot disclosed in the authorized announcement CN205251438U belongs to the legged robot, which includes a vacuum suction cup, a micro vacuum pump, a rudder and the like.

[0004] When the cleaning robot climbs, the rudder drives the vacuum suction cup to rotate, the vacuum suction cup is attached to the glass curtain wall, the vacuum pump creates a negative pressure inside the suction cup, and the cleaning robot is adsorbed on the glass curtain wall. Since the height of the joint of the glass curtain wall is not the same as the height of the glass curtain wall, when the vacuum suction cup is simultaneously adsorbed on the surface and the joint of the glass curtain wall, due to the aforementioned different heights, the vacuum suction cup will leak, and the adsorption will not be firm. SUMMARY

[0005] The bionic wall-climbing robot leg structure and the operating method thereof of the present application solve the problem of how the vacuum suction cup of the wall-climbing robot is not adsorbed on the joint of the glass curtain wall.

[0006] In order to achieve the above-mentioned purpose, the bionic wall-climbing robot leg structure of the present application comprises a No. 1 rudder, the non-rotating shaft end of the No. 1 rudder is fixed on the wall-climbing robot body, and the rotating shaft of the No. 1 rudder can rotate relative to the wall-climbing robot body; a knee joint frame is fixed on the rotating shaft of the No. 1 rudder, a No. 2 rudder is arranged on the knee joint frame, the non-rotating shaft end of the No. 2 rudder is fixed on the knee joint frame, the rotating shaft of the No. 2 rudder can rotate relative to the knee joint frame, and the rotating shaft of the No. 2 rudder is along the radial direction of the rotating shaft of the No. 1 rudder; an ankle joint frame is fixed on the rotating shaft of the No. 2 rudder; a gas pipe is rotatably connected to the ankle joint frame, the end of the gas pipe is connected to a vacuum suction cup, the rotating axis of the vacuum suction cup is parallel to the rotating shaft axis of the No. 2 rudder, and a No. 3 rudder for driving the vacuum suction cup to rotate is arranged on the ankle joint frame; a grabbing and releasing assembly for adsorbing or opening the vacuum suction cup is arranged on the wall-climbing robot body; the end of the gas pipe extends into the cavity of the vacuum suction cup, and a plurality of laser sensors for detecting distance are fixed on the end face of the end of the gas pipe extending into the cavity of the vacuum suction cup.

[0007] Further, the grabbing and releasing assembly comprises a micro vacuum pump arranged on the wall-climbing robot body, the air pipe is provided with an electromagnetic three-way valve at the end away from the vacuum suction cup, the A end of the electromagnetic three-way valve is fixedly connected with the air pipe, the B end of the electromagnetic three-way valve is fixedly connected with the micro vacuum pump through a hose, and the C end of the electromagnetic three-way valve is provided with a valve core for opening and closing the C end of the electromagnetic three-way valve.

[0008] Through the electromagnetic three-way valve, the vacuum suction cup of the wall-climbing robot can be automatically controlled to release the glass curtain wall; and the electromagnetic three-way valve can also be automatically controlled to be in a closed state, so that the negative pressure value generated at the vacuum suction cup can be approximately known according to the running time of the vacuum pump and the air extraction amount per unit time of the vacuum pump, and the suction force of the vacuum suction cup can be known.

[0009] Further, the air pipe is sleeved with a connecting disc, the air pipe is fixedly connected with the connecting disc, and two vertical ears are fixedly arranged on the connecting disc; the ankle joint frame comprises two connecting plates A and B, two third steering engines are provided, the non-rotation shaft ends of the two third steering engines are fixedly arranged on the connecting plates A and B, the rotation shafts of the third steering engines pass through the connecting plates A and B and are fixedly connected with the two vertical ears, and the two third steering engines are opposite in steering direction.

[0010] The connecting disc is sleeved on the air pipe, the air pipe is fixedly connected with the connecting disc, the air pipe is limited by the connecting disc, and thus rotating the air pipe is equivalent to rotating the connecting disc; the connecting disc has a large volume, and compared with rotating the air pipe, the rotating structure is easier to install. Meanwhile, the connecting ears are provided with a mounting position, and the air pipe and the vacuum suction cup are more easily rotated.

[0011] Further, the laser sensors are arranged in a circumferential array along the axis of the air pipe.

[0012] The laser sensors in the circumferential array are uniformly distributed on the end surface of the air pipe; the laser sensors are uniformly distributed, and no matter whether the joint is transverse, vertical or inclined, the joint has the same probability of being sensed by the laser sensors, instead of the laser sensors being stacked at one end of the end surface of the air pipe, so that the irregular-shaped joint cannot be detected.

[0013] Further, the distance between adjacent laser sensors is less than the joint width of the glass curtain wall.

[0014] In this way, at least one laser sensor detects the existence of the joint each time, and there is no missed detection, and the rationality of the next position of the robot is more accurately judged.

[0015] An operation method of a bionic wall-climbing robot supporting leg, comprising the following steps:

[0016] S1: establishing a coordinate system and obtaining the initial coordinates P1 (X1, Y1, Z1) of the vacuum suction cup on one of the supporting leg structures.

[0017] S2: After the controller sends the crawling signal, the controller sends the next coordinate point P2 (X2, Y2, Z2) that the vacuum chuck needs to reach, the controller controls the C end of the electromagnetic three-way valve to open, the gas enters the cavity of the vacuum chuck, and the vacuum chuck loosens the glass curtain wall; through reverse solving, the controller controls the first, second and third steering engines to act, and the angle sensor detects the action amount of each steering engine, so that the vacuum chuck reaches the P2 point from the P1 point;

[0018] S3: After the action amount of each steering engine is completed, the angle sensor signal is triggered and fed back to the controller, and the controller knows that the support leg has reached the P2 point from the P1 point;

[0019] S4: When the vacuum chuck is at P2 (X2, Y2, Z2), the controller causes multiple laser sensors to emit light respectively, the light is reflected on the glass curtain wall and reflected back to the laser sensor, the controller calculates the time consumed by each laser sensor from emitting light to receiving reflected light, and calculates the distance between each laser sensor and the glass curtain wall;

[0020] S5: The controller compares whether the maximum difference of each distance value is less than a threshold value, and if it is less than the threshold value, it is considered that all the laser sensors are in the glass curtain wall area, otherwise, the vacuum chuck is in the joint area of the glass curtain wall;

[0021] S6: If all the laser sensors are in the glass curtain wall area, proceed to the next step; if not, repeat S2-S5 to determine a new arrival point PN (XN, YN, ZN);

[0022] S7: The controller determines whether the maximum distance value of each group is within the threshold range, and if so, proceeds to the next step; otherwise, adjusts the ZN value of PN;

[0023] S8: The controller controls the C end of the electromagnetic three-way valve to close, and after closing, sends a signal to the controller, the controller controls the micro vacuum pump to pump, and stops pumping after the pumping time reaches T.

[0024] Further, in step S6, if the cycle S2-S5 reaches a set number of times, all the laser sensors still cannot determine that they are in the glass curtain wall area, the controller controls the vacuum chuck to retreat to the previous position point, and issues a warning.

[0025] Further, if the maximum distance value is less than the threshold value, the ZN value of PN is increased; otherwise, the ZN value of PN is decreased.

[0026] Advantages:

[0027] 1. By setting multiple laser sensors, it is determined whether the vacuum chuck can completely fall into the area where the glass curtain wall is located, so as to ensure that the vacuum chuck can be accurately located on the surface of the glass curtain wall, instead of being located at the joint of the glass curtain wall.

[0028] 2. By setting multiple laser sensors, the controller knows the distance between the laser sensor and the glass curtain wall, and according to the distance between the laser sensor and the glass curtain wall, it is determined whether the distance between the vacuum chuck and the glass curtain wall is within a reasonable range. If it cannot be within a reasonable threshold range, by changing the ZN value (vertical coordinate) of the position point, it is within the threshold range, so that the vacuum chuck is attached to the glass curtain wall, which is convenient for subsequent air suction to make the vacuum chuck adsorb the glass curtain wall and generate a reasonable pressure value. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a structure schematic diagram of the supporting leg structure after being installed on the robot;

[0030] Figure 2 is a structure schematic diagram of the supporting leg;

[0031] Figure 3 is a structure schematic diagram of the vacuum chuck and the air pipe.

[0032] Reference signs: 1, No. 1 steering engine; 2, knee joint frame; 3, No. 2 steering engine; 4, connecting plate A; 5, connecting plate B; 6, connecting disc; 7, vertical ear; 8, air pipe; 9, vacuum chuck; 10, electromagnetic three-way valve; 11, valve core; 12, laser sensor. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0034] The bionic wall-climbing robot supporting leg structure comprises a No. 1 steering engine 1, the non-rotating shaft end of the No. 1 steering engine 1 is fixed on the bionic wall-climbing robot body, and the rotating shaft of the No. 1 steering engine 1 can rotate relative to the bionic wall-climbing robot body.

[0035] The rotating shaft of the first steering engine 1 is sleeved with a knee joint frame 2, and the knee joint frame 2 is fixed on the rotating shaft of the first steering engine 1. The knee joint frame 2 is provided with a second steering engine 3, and the non-rotating shaft end of the second steering engine 3 is fixed on the knee joint frame. The rotating shaft of the second steering engine 3 can rotate relative to the knee joint frame 2, and the rotating shaft axis of the second steering engine 3 is parallel to the radial direction of the rotating shaft of the first steering engine 1. Moreover, no matter how the first steering engine 1 rotates the knee joint frame 2, the rotating shaft axis of the second steering engine 3 is parallel to the radial direction of the rotating shaft of the first steering engine 1.

[0036] The rotating shaft of the second steering engine 3 is sleeved with an ankle joint frame, and the ankle joint frame is fixed on the rotating shaft of the second steering engine 3. The ankle joint frame comprises a connecting plate A 4 and a connecting plate B 5 which are fixedly connected with each other.

[0037] See Figure 2 The ankle joint frame is rotatably connected with a connecting disc 6, and the connecting disc 6 is a disc. The upper wall of the connecting disc 6 is fixed with two standing ears 7, and the two standing ears 7 are respectively located on the outer sides of the connecting plate A 4 and the connecting plate B 5. The connecting disc 6 and the standing ears 7 as a whole can rotate relative to the connecting plate A 4 and the connecting plate B 5. Specifically, the connecting plate A 4 and the connecting plate B 5 are provided with third steering engines (not shown), and the non-rotating shaft ends of the corresponding third steering engines are respectively fixed on the connecting plate A 4 and the connecting plate B 5. The rotating shafts of the two third steering engines pass through the connecting plate A 4 and the connecting plate B 5. The connecting plate A 4 or the connecting plate B 5 is provided with a through hole for the rotating shaft of the third steering engine to pass through. The rotating shaft of the third steering engine is connected to the through hole position through a bearing. The outer wall of the rotating shaft of the third steering engine is fixedly connected with the inner wall of the bearing, and the outer wall of the bearing is fixedly connected with the inner wall of the through hole. The rotating shaft of the third steering engine is fixedly connected with the corresponding standing ear 7. The two third steering engines are of the same specification, synchronously rotate, and have opposite rotating directions. The two third steering engines simultaneously control the rotation of the whole composed of the connecting disc 6 and the standing ears 7 relative to the ankle joint frame. The rotating shaft axis of the third steering engine is arranged along the radial direction of the first steering engine.

[0038] A plug hole is formed in the middle position of the connecting disc 6 along the axis direction of the first steering engine. The connecting disc 6 is provided with an air pipe 8, and the air pipe 8 is a rigid pipe. The axis of the air pipe 8 is along the axis direction of the first steering engine. The connecting disc 6 is sleeved on the air pipe 8 through the plug hole, and the connecting disc 6 is fixedly connected with the air pipe 8.

[0039] A vacuum suction cup 9 is fixed to one end of the ventilation pipe 8. The vacuum suction cup 9 is located at the end of the connecting plate 6 away from the vertical ear 7. The ventilation pipe 8 is connected to the cavity of the vacuum suction cup 9. The axis of the ventilation pipe 8 coincides with the axis of the vacuum suction cup 9. An electromagnetic three-way valve 10 is fixedly connected to the other end of the ventilation pipe 8 located on the connecting plate 6. The A end of the electromagnetic three-way valve 10 is fixedly connected to and communicates with the ventilation pipe 8. The B end of the electromagnetic three-way valve 10 is connected to and communicates with the miniature vacuum pump on the body of the bionic wall-climbing robot through a hose. A valve core 11 is provided in the C end of the electromagnetic three-way valve 10. The valve core is controlled to rotate by electromagnetic means, so that the C end is opened and closed. When the electromagnetic three-way valve 10 is open, the outside gas can flow into the electromagnetic three-way valve 10 through the C end; conversely, when the electromagnetic three-way valve 10 is closed, the outside gas cannot enter the electromagnetic three-way valve 10 through the C end.

[0040] At least three laser sensors 12 are fixed to the end face of the ventilation pipe 8 near the vacuum suction cup 9. The data lines of the three laser sensors 12 pass through the side wall of the ventilation pipe 8 and are electrically connected to the controller on the bionic wall-climbing robot body. The position where the data lines pass through the ventilation pipe 8 is sealed with adhesive. The three laser sensors 12 are arranged in a circumferential array along the axis of the ventilation pipe 8. The lasers emitted by the three laser sensors 12 are parallel to the axis of the ventilation pipe 8 and are emitted from the end of the vacuum suction cup 9 away from the vertical lug 7. After illuminating the object, they are reflected back to the corresponding laser sensor 12. By calculating the time from emission to return of each laser, the controller can calculate the distance from the corresponding laser sensor 12 to the object. If the maximum difference between the three distances D1, D2, and D3 is less than 0.2 cm, it is approximately considered that there is no seam between the end face of the ventilation pipe 8 with the laser sensors 12 and the surface of the object (glass curtain wall), because the diameter of the end of the vacuum suction cup 9 away from the vertical lug is approximately equal to the diameter of the ventilation pipe 8. During the rotation of vacuum suction cup 9 by servo motors 1, 3, and 4, laser sensor 12 continuously transmits distance data to the controller at a laser emission interval of 0.2 seconds. The controller then uses a control algorithm to control the rotation of servo motors 1, 3, and 4. Angle sensors are installed at the knee joint frame 2, ankle joint frame, and connecting plate 6 to provide the controller with the rotation angles of these components. A reverse-engineering approach is used to control the rotation of the shafts of servo motors 1, 3, and 4.

[0041] The laser sensor 12 detects that the distance between the glass curtain wall and the end face of the vent pipe 8 is within the set threshold, indicating that the vacuum suction cup 9 is tightly attached to the glass curtain wall. The controller then controls the micro vacuum pump to extract the air from inside the vacuum suction cup 9. In this embodiment, the controller controls the start-up time of the micro vacuum pump to ensure that the vacuum suction cup 9 is indeed adsorbed onto the glass curtain wall.

[0042] Action process:

[0043] S1: Establish a coordinate system with the wall-climbing robot body as the center, the horizontal direction parallel to the glass curtain wall plane as the X axis, the vertical direction parallel to the glass curtain wall plane as the Y axis, and the direction perpendicular to the glass curtain wall plane as the Z axis. Since the installation posture, installation position of each leg structure on the wall-climbing robot body and the length corresponding to each leg structure are determined in the initial state, the controller knows that the initial coordinates of the vacuum suction cup 9 on the leg structure are P1 (X1, Y1, Z1).

[0044] S2: When a moving signal is sent to the wall-climbing robot body (for example, upward), the controller gives the next coordinate point P2 (X2, Y2, Z2) that the vacuum suction cup 9 needs to reach, and P2 is a point that the leg can reach in one moving process. Knowing the coordinates of P1 and P2, the control amount of the first steering engine 1, the second steering engine 3 and the third steering engine can be controlled by inverse solving. Specifically, under the action of the controller, first open the C end of the electromagnetic three-way valve 10 to let air into the electromagnetic three-way valve 10. Since the electromagnetic three-way valve 10 is in communication with the air pipe 8, and the air pipe 8 is in communication with the vacuum suction cup 9, air enters the vacuum suction cup 9, and the vacuum suction cup 9 no longer adsorbs the glass curtain wall. At this time, the vacuum suction cup 9 can move from P1 to P2. The controller makes the first steering engine 1, the second steering engine 3 and the third steering engine rotate different control amounts, and the angle sensor detects the control amount of each steering engine. Finally, the vacuum suction cup 9 reaches the P2 point from the P1 point.

[0045] S3: After the control amount of each steering engine is completed, the angle sensor signal is triggered and fed back to the controller, and the controller knows that the leg has reached the P2 point from the P1 point.

[0046] S4: The controller opens the laser sensor 12 to measure the distance, and the laser sensor 12 emits light every second. Specifically, when the vacuum suction cup 9 is at P2 (X2, Y2, Z2), the controller makes the three laser sensors 12 emit light respectively, the light is reflected on the glass curtain wall and reflected back to the laser sensor 12, the controller calculates the time consumed by each laser sensor 12 from emitting light to receiving reflected light, and calculates the distance between each laser sensor 12 and the glass curtain wall, which is recorded as D1, D2 and D3. 1 second 4 groups.

[0047] S5: The controller compares whether the maximum difference between each group D1, D2 and D3 is less than a threshold value (0.2 cm). If it is less than the threshold value, it is considered that the three laser sensors 12 are in the glass curtain wall area, that is, the vacuum suction cup 9 is in the glass curtain wall area. Otherwise, it is considered that the vacuum suction cup 9 is in the joint area of the glass curtain wall.

[0048] S6: If it is in the glass curtain wall area, then proceed to the next step; if it is not in the glass curtain wall area, then control the three rudder actions according to the values of D1, D2 and D3, and the vacuum chuck 9 reaches P3 (X3, Y3, Z3) again, for example: D1=D2=1cm, D3=2cm, which means that there are protruding glass curtain wall connecting joints at D1 and D2, resulting in a higher height at these two places. At this time, S2-S5 are cycled until it is determined that the vacuum chuck 9 is not in the area of the connecting joint of the glass curtain wall, and if it still cannot be determined that the chuck is not in the area of the connecting joint of the glass curtain wall after 5 cycles, it indicates that the next area of the wall climbing robot cannot be tightly attached, and the controller controls the vacuum chuck 9 to retreat to the previous position point, i.e. P1 point, and a warning is issued.

[0049] S7: Determine whether the maximum value of D1, D2 and D3 is within the threshold range (0.3cm-0.4cm), yes, then it means that the distance between the vacuum chuck 9 and the surface of the glass curtain wall is appropriate, and proceed to the next step; no, it means that the distance between the vacuum chuck 9 and the surface of the glass curtain wall is not appropriate; if the maximum value is greater than the threshold, the controller reduces the Z3 value of P3 point, and if it is less than the threshold, the controller increases the Z3 value of P3 point, and the increase amplitude of Z3 is 0.1cm each time, until the maximum value is within 0.3cm-0.4cm. Through reverse calculation, the controller controls the actions of the first rudder, the second rudder and the third rudder to reposition the vacuum chuck to the P3 point with the changed Z3 value. At this time, it means that the vacuum chuck 9 can be attached to the glass curtain wall, and the distance of the attachment is appropriate.

[0050] S8: The controller controls the C end of the electromagnetic three-way valve 10 to be closed, and after being closed, it sends a signal to the controller to control the micro vacuum pump to start pumping, and the duration is T. Whether the pumping time reaches T or not indicates whether the vacuum chuck 9 has tightly attached to the glass curtain wall. If T is reached, the micro vacuum pump stops, otherwise it continues until the time reaches T. The driving mode of the other leg structures is the same as the above mode, but the operation is in time sequence, thereby realizing the movement of the wall climbing robot body. The number of laser sensors 12 in this embodiment can also be set to multiple according to actual conditions, so that the distance between the laser sensors 12 is less than the width of the joint, and the dead angle of detection is avoided as much as possible.

[0051] Based on the above ideal embodiments according to the present application, through the above description, relevant personnel can make various changes and modifications without deviating from the technical idea of the present application. The technical scope of the present application is not limited to the contents in the specification, and must be determined according to the scope of the claims.

Claims

1. A method of operating a bionic wall-climbing robot leg, characterized in that, The method comprises the following steps: S1: Establish a coordinate system and obtain the initial coordinates P1 (X1, Y1, Z1) of the vacuum chuck on one of the leg structures; S2: After the controller sends a crawling signal, the controller sends the next coordinate point P2 (X2, Y2, Z2) that the vacuum chuck needs to reach, the controller controls the C end of the electromagnetic three-way valve to open, gas enters the cavity of the vacuum chuck, and the vacuum chuck releases the glass curtain wall; through reverse solving, the controller controls the first, second and third steering engines to act, the angle sensor detects the action amount of each steering engine, and the vacuum chuck moves from the P1 point to the P2 point; S3: After the action amount of each steering engine is completed, the angle sensor signal is triggered and fed back to the controller, and the controller knows that the leg has moved from the P1 point to the P2 point; S4: When the vacuum chuck is at the P2 (X2, Y2, Z2) point, the controller causes multiple laser sensors to emit light respectively, the light is reflected on the glass curtain wall and returned to the laser sensor, the controller calculates the time consumed by each laser sensor from emitting light to receiving the reflected light, and calculates the distance between each group of laser sensors and the glass curtain wall; S5: The controller compares whether the maximum difference of each group of distance values is less than a threshold value, and if yes, it is considered that all the laser sensors are in the glass curtain wall area, otherwise, the vacuum chuck is in the joint area of the glass curtain wall; S6: If all the laser sensors are in the glass curtain wall area, the next step is performed; if not, the steps S2-S5 are repeated to determine a new arrival point PN (XN, YN, ZN); S7: The controller determines whether the maximum distance value of each group is within the threshold range, and if yes, the next step is performed; otherwise, the ZN value of the PN is adjusted; S8: The controller controls the C end of the electromagnetic three-way valve to close, and after the C end is closed, a signal is transmitted to the controller, the controller controls the micro vacuum pump to pump air, and stops pumping air after the air pumping time reaches T; The leg structure comprises a first steering engine, a non-rotating shaft end of the first steering engine is fixed on a wall climbing robot body, and a rotating shaft of the first steering engine can rotate relative to the wall climbing robot body; A knee joint frame is fixed on the rotating shaft of the first steering engine, a second steering engine is arranged on the knee joint frame, a non-rotating shaft end of the second steering engine is fixed on the knee joint frame, a rotating shaft of the second steering engine can rotate relative to the knee joint frame, and the rotating shaft of the second steering engine is in the radial direction of the rotating shaft of the first steering engine; an ankle joint frame is fixed on the rotating shaft of the second steering engine; a gas pipe is rotatably connected to the ankle joint frame, an end of the gas pipe is connected to the vacuum chuck, a rotating axis of the vacuum chuck is parallel to the rotating shaft axis of the second steering engine, the ankle joint frame is provided with a third steering engine for driving the vacuum chuck to rotate; the wall climbing robot body is provided with a grabbing and releasing assembly for adsorbing or opening the vacuum chuck; one end of the gas pipe extends into the cavity of the vacuum chuck, and a plurality of laser sensors for detecting distance are fixed on the end face of the one end of the gas pipe extending into the cavity of the vacuum chuck.

2. The method of operating a bionic wall-climbing robot leg according to claim 1, wherein, The catch-and-release assembly comprises a micro vacuum pump arranged on the wall-climbing robot body, the air pipe is provided with an electromagnetic three-way valve at the end away from the vacuum chuck, the A end of the electromagnetic three-way valve is fixedly connected with the air pipe, the B end of the electromagnetic three-way valve is fixedly connected with the micro vacuum pump through a hose, and the C end of the electromagnetic three-way valve is provided with a valve core for opening and closing the C end of the electromagnetic three-way valve.

3. The method of claim 1, wherein the method further comprises: The air pipe is sleeved with a connecting disc, the air pipe is fixedly connected with the connecting disc, two vertical ears are fixed on the connecting disc; the ankle joint frame comprises two connecting plates A and B, two third steering engines are provided, the non-rotation shaft ends of the two third steering engines are fixed on the connecting plates A and B respectively, the rotation shafts of the third steering engines pass through the connecting plates A and B and are fixedly connected with the two vertical ears respectively, and the two third steering engines rotate in opposite directions.

4. The method of claim 1, wherein, The laser sensors are arranged in a circumferential array along the axis of the air pipe.

5. The method of operating a bionic wall-climbing robot leg according to claim 4, wherein, The distance between adjacent laser sensors is less than the width of the joint of the glass curtain wall.

6. The method of operating a bionic wall-climbing robot leg according to claim 1, wherein, In step S6, if all the laser sensors still cannot determine that they are in the glass curtain wall area after the cycle S2-S5 reaches a set number of times, the controller controls the vacuum chuck to retreat to the position point of the previous step and issues a warning.

7. The method of operating a bionic wall-climbing robot leg according to claim 1, wherein, In step S7, if the maximum distance value is less than a threshold value, the ZN value of PN is increased; otherwise, the ZN value of PN is decreased.

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