A bipedal wall-climbing robot applicable to a curved surface

Abstract

The application belongs to the technical field of robots, and particularly relates to a biped wall-climbing robot applicable to curved surfaces, which comprises a first waist assembly, a second waist assembly, a foot assembly, a vacuum pump and electromagnetic valves.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically a bipedal wall-climbing robot applicable to curved surfaces. Background Technology

[0002] With the advancement of technology and the progress of the times, the demand for operations in special environments such as high-rise buildings, large oil tanks, wind turbines, oil pipelines, ships, and aircraft is increasing. These operating environments pose enormous challenges to human resources, as manual operation is not only inefficient but also poses safety risks. Therefore, there is an urgent need for a solution that can replace manual labor in special operations such as monitoring, cleaning, and maintenance.

[0003] Wall-climbing robots, which can adhere to or move on surfaces in their working environment using adsorption, are a viable solution. Existing wall-climbing robots primarily employ adsorption methods such as magnetic adsorption, adhesion, and pneumatic adsorption. However, these methods all have limitations. Magnetic adsorption is the most stable and reliable method, typically using a wheeled structure, offering good maneuverability and efficiency, but it can only be applied to magnetic surfaces and cannot be used on non-magnetic materials, such as those found on airplanes and wind turbines. Adhesion methods can adapt to curved surfaces, such as the Stickybot crawling robot from Stanford University, but due to limited adhesive force, it is only suitable for smaller robots. Pneumatic adsorption has two methods: one involves continuously pumping gas to maintain negative pressure within the negative pressure chamber for adsorption, but this method is energy-intensive and cannot adapt to curved surfaces. The other method uses suction cups for adsorption, providing a strong bond, and the negative pressure pump can be turned off when not in use. However, while suction cups are well-suited for flat surfaces, adsorption on curved surfaces can fail if the angle between the suction cup and the surface is not appropriate. Therefore, it is of great significance to design a wall-climbing robot that can be applied to curved surfaces, has a simple structure, is lightweight, and has a large load capacity. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a bipedal wall-climbing robot applicable to curved surfaces; it possesses stable and reliable adsorption capabilities, is suitable for different material surfaces, and has the ability to adapt to curved surfaces, achieving reliable adsorption on both flat and curved surfaces.

[0005] The objective of this invention can be achieved through the following technical solutions:

[0006] A bipedal wall-climbing robot applicable to curved surfaces includes:

[0007] A first waist assembly and a second waist assembly are rotatably connected;

[0008] The foot assembly consists of two sets, which are respectively installed at the lower ends of the first waist assembly and the second waist assembly. The foot assembly includes a limiting connecting rod, a steering knuckle, a connector, and a suction cup. The steering knuckle is connected between the limiting connecting rod and the connector, and the suction cup is fixedly connected to the lower end of the connector.

[0009] A vacuum pump, which is fixedly installed inside the second waist assembly;

[0010] The solenoid valve consists of two sets, which are respectively installed at the lower ends of the first waist assembly and the second waist assembly. Each set of solenoid valves is connected to the vacuum pump through a first hose, and each set of solenoid valves is connected to the connector in each set of foot assemblies through a second hose.

[0011] Furthermore, the first waist assembly includes a first rotary servo, a first waist connecting frame, and a waist rotary servo; the first rotary servo is fixedly connected to the first waist connecting frame, the waist rotary servo is fixedly installed on the side end of the first waist connecting frame, and the waist rotary servo is away from the first rotary servo; the limiting connecting rod located under the first waist assembly is fixedly connected to the output shaft of the first rotary servo, and the limiting connecting rod can rotate under the action of the first rotary servo.

[0012] Furthermore, the second waist assembly includes a second rotary servo and a second waist connecting frame. The second rotary servo is fixedly connected to the second waist connecting frame, and the end of the second waist connecting frame away from the second rotary servo is fixedly connected to the servo disk of the waist rotary servo. The servo disk can rotate under the drive of the waist rotary servo. The limiting connecting rod located under the second waist assembly is fixedly connected to the output shaft of the second rotary servo. The limiting connecting rod can rotate under the action of the second rotary servo.

[0013] Furthermore, each foot assembly's limiting connecting rod is equipped with a reduction gear motor, which can lock and unlock the universal joint.

[0014] Furthermore, each solenoid valve has an air inlet, an air outlet, and an exhaust outlet at its lower end; the air outlet of the vacuum solenoid valve is connected to the air inlet of the vacuum pump via a first flexible hose; the air inlet of the vacuum solenoid valve is connected to the connector via a second flexible hose.

[0015] Furthermore, the second hose passes through the connector and communicates with the inner cavity of the suction cup.

[0016] Furthermore, a battery is fixedly installed inside the first waist connecting frame, and a controller is fixedly installed at the upper end of the first waist connecting frame; the controller uses an ESP32-S3 as the main control chip, which has built-in WIFI and can transmit control information and collect data.

[0017] Furthermore, each foot assembly connector is equipped with a surface-array lidar on its side, which has a resolution of 8*8 and a measurement range of 0.015-2.1 meters.

[0018] Furthermore, the steering knuckle includes a first connecting rod, a second connecting rod, and a universal joint. The first connecting rod has two first through holes on its side end, and the second connecting rod has two second through holes on its side end. The universal joint has a cross-shaped structure. The left and right ends of the universal joint are respectively located in the two first through holes of the first connecting rod, and a bearing is installed at the connection between the universal joint and the first connecting rod. The front and rear ends of the universal joint are respectively located in the two second through holes of the second connecting rod, and a bearing is also installed at the connection between the universal joint and the second connecting rod.

[0019] Furthermore, the upper end of the first connecting rod is fixedly connected to the lower end of the limiting connecting rod, and the lower end of the second connecting rod is fixedly connected to the upper end of the connecting member.

[0020] The explanations of the nouns, conjunctions, or adjectives used in the above technical solutions are as follows:

[0021] Fixed connection: refers to a connection in which parts or components are fixed in place, with no relative movement. It is divided into two types: detachable and non-detachable connections.

[0022] (1) Detachable connection: The components are fixed together using screws, splines, wedges, etc. This type of connection can be disassembled during maintenance without damaging the parts. However, the specifications of the connecting parts used must be correct (such as the length of the bolts, keys, wedges) and properly tightened.

[0023] (2) Non-removable connections: These mainly refer to welding, riveting, and tenon joints. Since disassembly requires forging, sawing, or oxyacetylene cutting for repair or replacement, the parts generally cannot be reused. At the same time, attention should be paid to process quality, technical inspection, and remedial measures (such as correction and polishing) during connection.

[0024] The beneficial effects of this disclosure are as follows: The bipedal wall-climbing robot proposed in this invention, applicable to curved surfaces, walks by alternating legs, and all walking movements can be completed using only three motion joints. The control method is simple and the movement is highly efficient. It employs an adsorption mechanism that can adapt to curved surfaces, thus possessing broad adaptability to various working environments. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the structure of the first waist component according to an embodiment of the present invention;

[0028] Figure 3 This is a schematic diagram of the structure of the second waist component according to an embodiment of the present invention;

[0029] Figure 4 This is a schematic diagram of the foot assembly according to an embodiment of the present invention;

[0030] Figure 5 This is a schematic diagram of the steering knuckle structure according to an embodiment of the present invention;

[0031] Figure 6 This is a schematic diagram of the structure of the first connecting rod in an embodiment of the present invention;

[0032] Figure 7 This is a schematic diagram of the structure of the second connecting rod according to an embodiment of the present invention;

[0033] Figure 8 This is a schematic diagram of the universal joint structure according to an embodiment of the present invention;

[0034] Figure 9 This is a schematic diagram of the structure of the solenoid valve according to an embodiment of the present invention;

[0035] Figure 10 This is a schematic diagram of the surface adaptation process of the bipedal wall-climbing robot of the present invention;

[0036] Figure 11 This is a side view of the bipedal wall-climbing robot of the present invention in its forward stride state.

[0037] Figure 12 This is a top view of the bipedal wall-climbing robot of the present invention in its forward stride state.

[0038] Figure 13 This is a top view of the alternating forward walking state of the bipedal wall-climbing robot of the present invention;

[0039] Figure 14 This is a schematic diagram of the cross-plane motion of the bipedal wall-climbing robot of the present invention;

[0040] Figure 15 This is a schematic diagram of the bipedal wall-climbing robot of the present invention moving from the upper surface to the lower surface;

[0041] Figure 16 This is a schematic diagram of the bipedal wall-climbing robot of the present invention moving from the upper surface to the lower surface of a terrain with a relatively large thickness.

[0042] Reference numerals: 1. First waist assembly; 2. Second waist assembly; 3. Foot assembly; 4. Limiting connecting rod; 5. Steering knuckle; 6. Connector; 7. Suction cup; 8. Vacuum pump; 9. Solenoid valve; 10. First hose; 11. Second hose; 12. First rotary servo; 13. First waist connecting frame; 14. Waist rotary servo; 15. Second rotary servo; 16. Second waist connecting frame; 17. Steering disc; 18. Gear encoder motor; 19. Air inlet; 20. Air outlet; 21. Exhaust outlet; 22. Battery; 23. Controller; 24. Area array lidar; 25. First connecting rod; 26. Second connecting rod; 27. Universal joint; 28. First through hole; 29. ​​Second through hole; 30. Bearing. Detailed Implementation

[0043] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0044] A bipedal wall-climbing robot applicable to curved surfaces, such as Figure 1-9 As shown, it includes:

[0045] A first waist assembly 1 and a second waist assembly 2 are rotatably connected.

[0046] The foot assembly 3 consists of two sets, which are respectively installed at the lower ends of the first waist assembly 1 and the second waist assembly 2. The foot assembly 3 includes a limiting connecting rod 4, a steering knuckle 5, a connector 6, and a suction cup 7. The steering knuckle 5 is connected between the limiting connecting rod 4 and the connector 6, and the suction cup 7 is fixedly connected to the lower end of the connector 6.

[0047] Vacuum pump 8, which is fixedly installed inside the second waist assembly 2;

[0048] Solenoid valve 9, there are two sets of solenoid valve 9, which are respectively installed at the lower ends of the first waist assembly 1 and the second waist assembly 2. Each set of solenoid valve 9 is connected to the vacuum pump 8 through the first hose 10, and each set of solenoid valve 9 is connected to the connector 6 in each set of foot assembly 3 through the second hose 11.

[0049] As a preferred embodiment of the present invention, such as Figures 1-3As shown, the first waist assembly 1 includes a first rotary servo 12, a first waist connecting frame 13, and a waist rotary servo 14; the first rotary servo 12 is fixedly connected to the first waist connecting frame 13, the waist rotary servo 14 is fixedly installed on the side end of the first waist connecting frame 13, and the waist rotary servo 14 is away from the first rotary servo 12; the limiting connecting rod 4 located under the first waist assembly 1 is fixedly connected to the output shaft of the first rotary servo 12; the limiting connecting member 6 can rotate under the action of the first rotary servo 12. The second waist assembly 2 includes a second rotary servo 15 and a second waist connecting frame 16. The second rotary servo 15 is fixedly connected to the second waist connecting frame 16. The end of the second waist connecting frame 16 away from the second rotary servo 15 is fixedly connected to the servo disk 17 of the waist rotary servo 14. The servo disk 17 can rotate under the drive of the waist rotary servo 14. The limiting connecting rod 4 located under the second waist assembly 2 is fixedly connected to the output shaft of the second rotary servo 15. The limiting connecting rod 6 can rotate under the action of the second rotary servo 15. The rotation of the servo disk 17 of the waist rotary servo 14 can change the angle between the first waist connecting frame 13 and the servo disk 17 centered on the first waist connecting frame 13. There are two types of rotation control for the waist rotary servo 14: one is continuous rotation with only a given rotation angle when the foot is lifted; the other is rotation with variable speed when the foot is lowered. When the suction cup 7 is not in contact with the adsorption surface, the waist-mounted rotary servo 14 needs to rotate rapidly, at a rate of 5 degrees per second. When the suction cup 7 contacts the adsorption surface and needs to adapt slowly, the waist-mounted rotary servo 14 rotates slowly, at a rate of 1 degree per second.

[0050] As a preferred embodiment of the present invention, such as Figure 4 As shown, each foot assembly 3 has a speed reduction encoder motor 18 installed inside the limiting connecting rod 4, which can lock and unlock the universal joint 27.

[0051] When the foot assembly is lowered, the universal joint 27 needs to be unlocked to adapt to the curved surface and ensure stable adhesion of the suction cup 7. This is achieved by controlling the rotation of the geared encoder motor 18 to increase the axial relative position between the universal joint 27 and the limiting connector 6, allowing the universal joint 27 to protrude from the limiting connector 6 and rotate. The angle between the suction cup 7 in the foot assembly 3 and the contact surface can adapt to the curved surface by changing the universal joint 27. The robot can also use a rack and pinion mechanism for unlocking and locking. Specifically, the connector 6 is directly fixed to the top axle fork of the universal joint 27, and a cylindrical sleeve with a rack is fitted on the outside of the connector 6. The rack meshes with a gear fixed on the output shaft of the geared encoder motor 18 inside the connector 6. The rotation of the gear can drive the cylindrical sleeve to move relative to the connector 6 along its axis, thereby unlocking and locking the universal joint 27.

[0052] As a preferred embodiment of the present invention, such as Figure 9 As shown, each vacuum solenoid valve 9 has an air inlet 19, an air outlet 20, and an exhaust port 21 at its lower end. The air outlet 20 of the vacuum solenoid valve 9 is connected to the air inlet of the vacuum pump 8 via a first flexible hose 10. The air inlet 19 of the vacuum solenoid valve 9 is connected to the connector 6 via a second flexible hose 11. The specific principle of the vacuum solenoid valve 9 and the vacuum pump 8 cooperating to control the suction cup 7 for adsorption is as follows: When the vacuum solenoid valve 9 is de-energized, the air inlet 19 and the air outlet 20 of the vacuum solenoid valve 9 are connected. At this time, the suction cup 7 is connected to the air inlet of the vacuum pump 8. The vacuum pump 8 will draw away the air from the suction cup 7, making the suction cup 7 a negative pressure state, thereby allowing the suction cup 7 to adsorb onto the contact surface. When the vacuum solenoid valve 9 is energized, the air inlet 19 and the exhaust port 21 of the vacuum solenoid valve 9 are connected. At this time, the vacuum pump 8 will not draw away the air from the suction cup 7, and the inner cavity of the suction cup 7 is connected to the atmosphere, causing the suction cup 7 to release from the adsorption state. At this time, the suction cup 7 is in a released state.

[0053] As a preferred embodiment of the present invention, such as Figure 2 As shown, a battery 22 is fixedly installed inside the first waist connecting frame 13, and a controller 23 is fixedly installed at the upper end of the first waist connecting frame 13. The controller 23 uses an ESP32-S3 as the main control chip, which has built-in WIFI and can transmit control information and collect data. The battery 22 provides the power required for the operation of the solenoid valve 9, vacuum pump 8, geared encoder motor 18, first rotary servo motor 12, waist rotary servo motor 14, and second rotary servo motor 15. The controller 23 is used to control the solenoid valve 9, vacuum pump 8, geared encoder motor 18, first rotary servo motor 12, waist rotary servo motor 14, and second rotary servo motor 15.

[0054] As a preferred embodiment of the present invention, such as Figure 4As shown, each foot assembly 3 has a connected connector 6 with a surface-array lidar 24 mounted on its side. The surface-array lidar 24 has a resolution of 8*8 and a measurement range of 0.015-2.1 meters. The surface-array lidar 24 is primarily used to determine the distance between the suction cup 7 and the contact surface. During adsorption, a smaller data return from the surface-array lidar 24 indicates that the suction cup 7 is far from the contact surface. When the returned value reaches the contact threshold, it indicates that the suction cup 7 is in contact with the surface. When the value changes only slightly and exceeds the safe adsorption threshold, it indicates that the surface adaptation is complete. The contact threshold is the data measured by the surface-array lidar 24 when the suction cup 7 is not compressed and in contact with the adsorption surface, serving as the basis for determining whether the suction cup 7 is in contact with the adsorption surface. The safe adsorption threshold is to prevent the foot from getting stuck during adsorption, which would result in only a slight change in the value returned by the surface-array lidar 24, even though the foot is not actually fully in contact with the adsorption surface. The safe adsorption threshold is determined by the data measured by the surface-array lidar 24 when the suction cup 7 is in contact with the adsorption surface and compressed by 5mm.

[0055] As a preferred embodiment of the present invention, such as Figure 5-8 As shown, the steering knuckle 5 includes a first connecting rod 25, a second connecting rod 26, and a universal joint 27. The first connecting rod 25 has two first through holes 28 on its side end, and the second connecting rod 26 has two second through holes 29 on its side end. The universal joint 27 has a cross-shaped structure. The left and right ends of the universal joint 27 are respectively located within the two first through holes 28 of the first connecting rod 25, and a bearing 30 is installed at the connection between the universal joint 27 and the first connecting rod 25. The front and rear ends of the universal joint 27 are respectively located within the two second through holes 29 of the second connecting rod 26, and a bearing 30 is also installed at the connection between the universal joint 27 and the second connecting rod 26. The upper end of the first connecting rod 25 is fixedly connected to the lower end of the limiting connecting rod 4, and the lower end of the second connecting rod 26 is fixedly connected to the upper end of the connecting member 6. In this device, the steering knuckle 5 is designed to facilitate the rotation of the connector 6 in the forward, backward, left, and right directions. This allows the suction cup 7 to adjust its angle with the curved wall as the connector 6 rotates during the wall-climbing robot's movement, thus facilitating the suction cup 7's adhesion to the curved wall.

[0056] Example 1:

[0057] like Figure 11 , Figure 12 As shown in the figure, the circle in the middle represents the waist-mounted rotary servo 14, the circles at both ends represent the first rotary servo 12 and the second rotary servo 15 respectively, and the trapezoid represents the suction cup 7. The rotating forward walking state shown in the figure is a movement mode with a large stride and fast movement. When this bipedal wall-climbing robot applied to curved surfaces moves on a plane, the specific movement steps are as follows:

[0058] 1. The universal joint 27 of foot A is unlocked, while the universal joint 27 of foot B is locked;

[0059] 2. When the vacuum solenoid valve 9 of foot A is energized, the suction cup 7 of foot A fails to adhere.

[0060] 3. The waist rotation servo 14 controls the first waist connecting frame 13 of foot A to rotate upward, so that foot A is raised;

[0061] 4. The second rotational servo 15 of foot B rotates, causing foot A to rotate to the front of foot B;

[0062] 5. The data fed back by the area array laser radar 24 of foot A controls the waist rotation servo 14 to rotate the first waist connecting frame 13 of group A downwards quickly, so that foot A is lowered. When the feedback data reaches the contact threshold, the suction cup 7 of foot A contacts the contact surface, and at the same time the rotation speed of waist rotation servo 14 is reduced.

[0063] 6. The suction cup 7 of foot A is in contact with the contact surface by the rotation of the steering knuckle 5. When the data feedback from the area array lidar 24 of foot A changes slightly and exceeds the safe adsorption threshold, the rotation of the steering knuckle 5 adjusts the angle between the suction cup 7 and the contact surface, and stops the rotation of the waist rotation servo 14.

[0064] 7. When the vacuum solenoid valve 9 of foot A is de-energized, the suction cup 7 of foot A is evacuated and adsorbed onto the surface;

[0065] After the action, the robot moves forward one body length. By repeating this cycle, the robot can achieve linear movement. Furthermore, it can turn in any direction (360 degrees) by simply controlling the rotation angle of the first rotary servo motor 12 of foot A and the second rotary servo motor 15 of foot B.

[0066] Example 2:

[0067] like Figure 13 As shown in the figure, the alternating forward walking state is not as fast as the rotating forward walking state, but it can achieve free control of the movement distance from zero to one body length by adjusting the angles of the first rotating servo 12 and the second rotating servo 15.

[0068] Example 3:

[0069] like Figure 14 As shown in the figure, the circle in the middle represents the waist-mounted rotating servo 14, the circles at both ends represent the first rotating servo 12 and the second rotating servo 15 respectively, and the trapezoid represents the suction cup 7. This bipedal wall-climbing robot, applied to curved surfaces, has the ability to traverse intersecting surfaces. The specific movement steps are as follows:

[0070] 1. The universal joint 27 of foot A is unlocked, while the universal joint 27 of foot B is locked;

[0071] 2. When the vacuum solenoid valve 9 of foot A is energized, the suction cup 7 of foot A fails to adhere.

[0072] 3. The waist rotation servo 14 controls the first waist connecting frame 13 of foot A to rotate upward, so that foot A is raised;

[0073] 4. The second rotational servo 15 of foot B rotates, causing foot A to rotate to the other side;

[0074] 5. The data fed back by the area array laser radar 24 of foot A controls the waist rotation servo 14 to rotate the first waist connecting frame 13 of foot A downwards quickly, so that foot A is lowered. When the feedback data reaches the contact threshold, the suction cup 7 of foot A contacts the contact surface, and at the same time the rotation speed of waist rotation servo 14 is reduced.

[0075] 6. The suction cup 7 of foot A is in contact with the contact surface by the rotation of the steering knuckle 5. When the data feedback from the area array lidar 24 of foot A changes slightly and exceeds the safe adsorption threshold, the rotation of the steering knuckle 5 adjusts the angle between the suction cup 7 and the contact surface, and stops the rotation of the waist rotation servo 14.

[0076] 7. When the vacuum solenoid valve 9 of foot A is de-energized, the suction cup 7 of foot A is evacuated and adsorbed onto the surface;

[0077] 8. Unlock the universal joint 27 of foot B and lock the universal joint 27 of foot A;

[0078] 9. When the vacuum solenoid valve 9 controlling foot B is energized, the suction cup 7 of foot B fails to adhere.

[0079] 10. The first rotating servo motor 12 of foot A rotates;

[0080] 11. Data fed back from the area array lidar 24 of the B-foot controls the waist rotation servo 14 to rapidly rotate the second waist connecting frame 16 of the B-foot upwards. When the fed-back data reaches the contact threshold, the suction cup 7 of the B-foot contacts the contact surface, reducing the rotation speed of the waist rotation servo 14;

[0081] 12. The suction cup 7 of foot B contacts the surface through the rotation of the steering knuckle 5. When the data feedback from the area array lidar 24 of foot B changes slightly and exceeds the safe adsorption threshold, the rotation of the steering knuckle 5 adjusts the angle between the suction cup 7 and the contact surface, and stops the rotation of the waist rotation servo 14.

[0082] 13. The vacuum solenoid valve 9 of foot B is de-energized, causing the suction cup 7 of foot B to be evacuated and adsorbed onto the surface;

[0083] The robot has now completed its movement from the vertical plane to the horizontal plane.

[0084] Example 4:

[0085] like Figure 15As shown in the figure. The circle in the middle represents the waist-mounted rotating servo 14, the circles at both ends represent the first rotating servo 12 and the second rotating servo 15 respectively, and the trapezoid represents the suction cup 7. This bipedal wall-climbing robot, applied to curved surfaces, has the ability to flip from the upper surface of a wall panel to the lower surface. The specific movement steps are as follows:

[0086] 1. When B-leg is lowered close to the edge of the wall panel, rotate the second rotary servo 15 of B-leg so that the axis of the bottom shaft fork connection hole of the universal joint 27 of B-leg is parallel to the edge to ensure that the robot will not deviate to the side when unlocking the universal joint 27 of B-leg later.

[0087] 2. A foot universal joint 27 is unlocked, while B foot universal joint 27 is locked;

[0088] 3. When the vacuum solenoid valve 9 of foot A is energized, the suction cup 7 of foot A fails to adhere.

[0089] 4. The waist rotation servo 14 controls the first waist connecting frame 13 of foot A to rotate upward, so that foot A is lifted;

[0090] 5. The second rotating servo 15 of foot B rotates, causing foot A to rotate to the outer edge of the wall panel;

[0091] 6. Unlock the universal joint 27 of foot B, and use gravity to rotate the top pivot fork of the universal joint 27 of foot B outward;

[0092] 7. The data fed back by the area array laser radar 24 of foot A controls the waist rotation servo 14 to rotate the first waist connecting frame 13 of foot A inward rapidly, so that foot A moves closer to the lower surface. When the feedback data reaches the contact threshold, the suction cup 7 of foot A contacts the lower surface, reducing the rotation speed of waist rotation servo 14.

[0093] 8. The suction cup 7 of foot A adheres to the lower surface through the rotation of the steering knuckle 5. When the data feedback from the area array lidar 24 of foot A changes slightly and exceeds the safe adsorption threshold, the rotation of the steering knuckle 5 adjusts the angle between the suction cup 7 and the contact surface, and stops the rotation of the waist rotation servo 14.

[0094] 9. The vacuum solenoid valve 9 of foot A is de-energized, causing the suction cup 7 of foot A to be evacuated and adsorbed onto the contact surface;

[0095] 10. Lock the universal joint 27 of foot A, control the vacuum solenoid valve 9 of foot B to be energized, and the suction cup 7 of foot B becomes ineffective.

[0096] 11. The waist rotation servo 14 rotates the second waist connecting frame 16 of foot B, causing foot B to suspend in the air;

[0097] 12. The first rotating servo motor 12 of foot A rotates;

[0098] 13. The data fed back by the area array laser radar 24 of the B foot controls the waist rotation servo 14 to rotate the second waist connecting frame 16 of the B foot upward rapidly. When the fed back data reaches the contact threshold, the suction cup 7 of the B foot contacts the lower surface, reducing the rotation speed of the waist rotation servo 14.

[0099] 14. The suction cup 7 of foot B adheres to the lower surface through the rotation of the steering knuckle 5. When the data feedback from the area array lidar 24 of foot B changes slightly and exceeds the safe adsorption threshold, the rotation of the steering knuckle 5 adjusts the angle between the suction cup 7 and the contact surface, and stops the rotation of the waist rotation servo 14.

[0100] 15. The vacuum solenoid valve 9 of foot B is de-energized, causing the second suction cup 7 of foot B to be evacuated and adsorbed onto the surface;

[0101] The robot has now completed its movement from the upper surface to the lower surface.

[0102] Example 5:

[0103] like Figure 16 As shown in the figure. The circle in the middle represents the waist-mounted rotating servo 14, the circles at both ends represent the first rotating servo 12 and the second rotating servo 15 respectively, and the trapezoid represents the suction cup 7. This bipedal wall-climbing robot, applied to curved surfaces, has the ability to flip from the upper surface of a thick wall panel to the lower surface of the wall panel. The specific movement steps are as follows:

[0104] 1. Unlock the universal joint 27 of foot A and lock the universal joint 27 of foot B;

[0105] 2. Control the vacuum solenoid valve 9 of foot A to be energized, so that the suction cup 7 of foot A becomes ineffective;

[0106] 3. The waist rotation servo 14 rotates the first waist connecting frame 13 of foot A upward, causing foot A to lift up;

[0107] 4. The second rotational servo 15 of foot B rotates, causing foot A to rotate to the outer edge of the wall panel;

[0108] 5. The data fed back by the area array laser radar 24 of foot A controls the waist rotation servo 14 to rotate the first waist connecting frame 13 of foot A inward rapidly, so that foot A is close to the side. When the feedback data reaches the contact threshold, the suction cup 7 of foot A contacts the side surface, reducing the rotation speed of waist rotation servo 14.

[0109] 7. The suction cup 7 of foot A adheres to the side surface through the rotation of the steering knuckle 5. When the data feedback from the area array lidar 24 of foot A changes slightly and exceeds the safe adsorption threshold, the rotation of the steering knuckle 5 adjusts the angle between the suction cup 7 and the contact surface, and stops the rotation of the waist rotation servo 14.

[0110] 8. The vacuum solenoid valve 9 of foot A is de-energized, causing the suction cup 7 of foot A to be vacuumed and adsorbed onto the surface of the wall panel;

[0111] 9. Lock the universal joint 27 of foot A, energize the vacuum solenoid valve 9 of foot B, and the suction cup 7 of foot B will fail to adhere.

[0112] 10. The waist rotation servo 14 rotates the second waist connecting frame 16 of foot B, causing foot B to suspend in the air;

[0113] 11. The first rotating servo motor 12 of foot A rotates;

[0114] 12. The data fed back by the area array laser radar 24 of the B foot controls the waist rotation servo 14 to rotate the second waist connecting frame 16 of the B foot upward rapidly. When the feedback data reaches the contact threshold, the second suction cup 7 contacts the surface, reducing the rotation speed of the waist rotation servo 14.

[0115] 13. The suction cup 7 of foot B adheres to the lower surface through the rotation of the steering knuckle 5. When the data feedback from the area array lidar 24 of foot B changes slightly and exceeds the safe adsorption threshold, the rotation of the steering knuckle 5 adjusts the angle between the suction cup 7 and the contact surface, and stops the rotation of the waist rotation servo 14.

[0116] 14. The vacuum solenoid valve 9 of foot B is de-energized, causing the suction cup 7 of foot B to be evacuated and adsorbed onto the surface;

[0117] 15. Lock the universal joint 27 of foot B, unlock the universal joint 27 of foot A, and energize the vacuum solenoid valve 9 of foot A to disable the adsorption of the first suction cup 7.

[0118] 16. The second rotational servo 15 of foot B rotates, causing foot A to rotate to the inside;

[0119] 17. The data fed back by the area array laser radar 24 of foot A controls the waist rotation servo 14 to rotate the first waist connecting frame 13 of foot A inward rapidly, so that foot A is close to the lower surface. When the feedback data reaches the contact threshold, the suction cup 7 of foot A contacts the lower surface of the wall panel, reducing the rotation speed of waist rotation servo 14.

[0120] 18. The suction cup 7 of foot A adheres to the lower surface through the rotation of the steering knuckle 5. When the data feedback from the area array lidar 24 of foot A changes slightly and exceeds the safe adsorption threshold, the rotation of the steering knuckle 5 adjusts the angle between the suction cup 7 and the contact surface, and stops the rotation of the waist rotation servo 14.

[0121] 19. The vacuum solenoid valve 9 of foot A is de-energized, causing the suction cup 7 of foot A to be evacuated and adsorbed onto the surface;

[0122] At this point, the robot has completed its movement from the upper surface of the thicker terrain to the lower surface.

[0123] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0124] The foregoing has shown and described the basic principles, main features, and advantages of this disclosure. Those skilled in the art should understand that this disclosure is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this disclosure. Various changes and modifications can be made to this disclosure without departing from its spirit and scope, and all such changes and modifications fall within the scope of this disclosure as claimed.

Claims

1. A bipedal wall-climbing robot applicable to curved surfaces, characterized in that, include: A first waist assembly (1) and a second waist assembly (2) are rotatably connected; The foot assembly (3) consists of two sets, which are respectively installed at the lower ends of the first waist assembly (1) and the second waist assembly (2). The foot assembly (3) includes a limiting connecting rod (4), a steering knuckle (5), a limiting connecting piece (6), and a suction cup (7). The steering knuckle (5) is connected between the limiting connecting rod (4) and the limiting connecting piece (6), and the suction cup (7) is fixedly connected to the lower end of the limiting connecting piece (6). Vacuum pump (8), which is fixedly installed inside the second waist assembly (2); Solenoid valve (9), there are two sets of solenoid valve (9), which are respectively installed at the lower ends of the first waist assembly (1) and the second waist assembly (2). Each set of solenoid valve (9) is connected to the vacuum pump (8) through the first hose (10), and each set of solenoid valve (9) is connected to the limiting connector (6) in each set of foot assembly (3) through the second hose (11). The first waist assembly (1) includes a first rotary servo (12), a first waist connecting frame (13), and a waist rotary servo (14); the first rotary servo (12) is fixedly connected to the first waist connecting frame (13), the waist rotary servo (14) is fixedly installed on the side end of the first waist connecting frame (13), and the waist rotary servo (14) is away from the first rotary servo (12); the limiting connecting rod (4) located under the first waist assembly (1) is fixedly connected to the output shaft of the first rotary servo (12); the limiting connecting member (6) can rotate under the action of the first rotary servo (12); The second waist assembly (2) includes a second rotary servo (15) and a second waist connecting frame (16). The second rotary servo (15) is fixedly connected to the second waist connecting frame (16). The end of the second waist connecting frame (16) away from the second rotary servo (15) is fixedly connected to the servo disk (17) of the waist rotary servo (14). The servo disk (17) can rotate under the drive of the waist rotary servo (14). The limiting connecting rod (4) located under the second waist assembly (2) is fixedly connected to the output shaft of the second rotary servo (15). The limiting connecting member (6) can rotate under the action of the second rotary servo (15). The steering knuckle (5) includes a first connecting rod (25), a second connecting rod (26), and a universal joint (27). The first connecting rod (25) has two first through holes (28) on its side end, and the second connecting rod (26) has two second through holes (29) on its side end. The universal joint (27) has a cross-shaped structure. The left and right ends of the universal joint (27) are located in the two first through holes (28) of the first connecting rod (25), and a bearing (30) is installed at the connection between the universal joint (27) and the first connecting rod (25). The front and rear ends of the universal joint (27) are located in the two second through holes (29) of the second connecting rod (26), and a bearing (30) is also installed at the connection between the universal joint (27) and the second connecting rod (26). Each foot assembly (3) has a speed reduction encoder motor (18) installed inside the limiting connecting rod (4), which can lock and unlock the universal joint (27); When the foot assembly (3) is lowered, the universal joint (27) is unlocked to adapt to the curved surface and ensure that the suction cup (7) adheres stably. Specifically, the drive reduction encoder motor (18) is rotated to increase the axial relative position between the universal joint (27) and the limiting connector (6), so that the universal joint (27) is exposed to the limiting connector (6) and can rotate. Thus, the angle between the suction cup (7) in the foot assembly (3) and the contact surface can adapt to the curved surface as the universal joint (27) changes. Each solenoid valve (9) has an air inlet (19), an air outlet (20), and an exhaust port (21) at its lower end; the air outlet (20) of the solenoid valve (9) is connected to the air inlet of the vacuum pump (8) through a first hose (10); the air inlet (19) of the solenoid valve (9) is connected to the limiting connector (6) through a second hose (11); The second hose (11) passes through the limiting connector (6) and communicates with the inner cavity of the suction cup (7); A battery (22) is fixedly installed inside the first waist connecting frame (13), and a controller (23) is fixedly installed at the upper end of the first waist connecting frame (13); the controller (23) uses ESP32-S3 as the main control chip, which has built-in WIFI and can transmit control information and collect data; Each foot assembly (3) has a limiting connector (6) with a side end equipped with a planar laser radar (24), the planar laser radar (24) having a resolution of 8.

8. The measurement range is 0.015-2.1 meters.

2. The bipedal wall-climbing robot applicable to curved surfaces according to claim 1, characterized in that, The upper end of the first connecting rod (25) is fixedly connected to the lower end of the limiting connecting rod (4), and the lower end of the second connecting rod (26) is fixedly connected to the upper end of the limiting connecting member (6).

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