A climbing robot that is easily scalable

Abstract

The application belongs to the field of climbing robots, and discloses a climbing robot convenient to expand, which has good expansion configuration capability, so that the formation structure of the robot can be flexibly adjusted according to a scene, and is very flexible. The climbing robot comprises a main vision module, a trunk module, at least two limb chain units, a wrist module and a suction module. The end of the main vision module, the limb chain unit and the suction module is provided with an electromechanical coupling female end. The trunk module and the wrist module are provided with a plurality of electromechanical coupling male ends. The electromechanical coupling male end and the electromechanical coupling female end are correspondingly matched, so that one end of the main vision module and the limb chain unit is detachably connected with the trunk module, the other end of the limb chain unit and the suction module are detachably connected with the wrist module. The limb chain unit comprises an arm module and two joint composite pieces. The arm module is in the shape of a rod and is provided with an electromechanical coupling male end at both ends. The joint composite piece comprises at least two joint servo motors, and the joint composite piece can realize torque output in at least two dimensions.

Description

Technical Field

[0001] This invention belongs to the field of climbing robots, and specifically relates to a climbing robot that is easy to expand. Background Technology

[0002] As the economy continues to develop, the public's aesthetic requirements are gradually improving. One aspect of this is the pursuit of diverse architectural shapes in cities, resulting in many new buildings in cities having unique, non-planar facades and / or roofs.

[0003] While this unique design satisfies the public's aesthetic requirements, it is obviously very troublesome to carry out routine operations such as maintenance, cleaning, and inspection of the facade and / or roof. This is because, for traditional flat facades and / or roofs, there are mature technologies and operating procedures available for performing the above-mentioned routine operations, whether by manpower or climbing robots.

[0004] However, for non-planar and unique work interfaces, the danger of manual operation will be greatly increased and the work efficiency will be greatly reduced. The structural form of climbing robots is fixed, and when selecting a model, it is necessary to select a robot with a suitable structure based on different wall shapes, which is limited by the use scenario and thus results in a lack of flexibility. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an easily expandable climbing robot with excellent scalability, enabling flexible adjustment of the robot's structure according to different scenarios, making it highly adaptable.

[0006] To achieve the above objectives, the present invention provides the following technical solution: An easily expandable climbing robot, adhering to the surface of a predetermined building, is characterized by comprising: a main vision module, a trunk module, at least two limb chain units, a wrist module, and an adsorption module. The ends of the main vision module, limb chain units, and adsorption module each have electromechanical coupling female terminals, while the trunk module and wrist module each have multiple electromechanical coupling male terminals. These male and female terminals mate correspondingly, allowing one end of the main vision module and limb chain units to be detachably connected to the trunk module, and the other end of the limb chain units and the adsorption module to be detachably connected to the wrist module. The limb chain unit includes... The arm module comprises an arm module and two joint composites. The arm module is rod-shaped with electromechanical coupling male terminals at both ends. The joint composites include at least two joint servo motors, with the output shafts of two adjacent joint servo motors perpendicular to each other. One joint servo motor is fixed to the output end of the other joint servo motor, thereby enabling the joint composites to achieve torque output in at least two dimensions. The main module includes a first control unit for controlling the limb chain. The arm module includes a second control unit for controlling the joint composites. The wrist module includes a third control unit for controlling the adsorption module.

[0007] Preferably, the present invention further includes an execution module having an electromechanical coupling female terminal, thereby enabling a detachable connection between the execution module and the main module or wrist module, and a third control unit for controlling the execution module.

[0008] Furthermore, the execution module is selected from one or more of the water spray module, the gripper module, and the welding torch module. The water spray module has a water spray housing and a gear pump. The water spray housing has a water storage chamber and a water spray nozzle that are interconnected. The water storage chamber sprays water to the outside through the gear pump and the water spray nozzle. The gripper module has a gripper motor, a drive disc gear, an idler gear, and a pair of conjugate grippers. The drive disc gear is fixed on the output end of the gripper motor. One end of the conjugate gripper is the gripping end, and the other end has a meshing gear. The pair of conjugate grippers mesh with each other through the meshing gear to form a conjugate. The drive disc gear forms a transmission mesh with the meshing gear through the idler gear. The welding torch module includes a welding torch housing, an air inlet valve, and an electronic igniter. The welding torch housing has an air inlet and an air outlet. The air inlet is connected to the outside through the air inlet valve. The electronic igniter is located near the air outlet and has an ignition part facing outward from the air outlet. Preferably, the electromechanical coupling male terminal has a male terminal coupling peripheral surface and a male terminal coupling end surface. The male terminal coupling peripheral surface has a coupling slot, and the male terminal coupling end surface has an electrical socket. The electromechanical coupling female terminal has a female terminal coupling groove that fits into the electromechanical coupling male terminal. The female terminal coupling groove has a female terminal coupling inner wall and a female terminal coupling bottom surface. The female terminal coupling inner wall has an embedded and elastically expandable coupling tongue that fits into the coupling slot. The female terminal coupling bottom surface has an electrical connection post that fits into the electrical socket.

[0009] Preferably, the joint composite includes three joint servo motors, and each end of the joint composite has two electromechanical coupling female ends.

[0010] Furthermore, the main vision module is used to collect external scenery and form main scenery data. The first control unit sends a walking signal, a lateral movement signal, a climbing signal and an execution signal to the limb chain based on the main scenery data. The second control unit controls the joint servo motors to perform sequential actions based on the walking signal, the lateral movement signal or the climbing signal. The second control unit stops controlling the joint servo motors based on the execution signal. The third control unit controls the adsorption module and the execution module based on the execution signal.

[0011] Furthermore, the second control unit controls two joint composites of the same limb chain unit to rotate simultaneously along the same dimension at opposite predetermined travel angles based on the travel signal; the second control unit controls two joint composites of the same limb chain unit to rotate simultaneously along the same dimension at opposite predetermined lateral displacement angles based on the lateral displacement signal; and the second control unit controls two adjacent joint composites of different limb chain units to rotate simultaneously along the same dimension at the same predetermined climbing angle based on the climbing signal.

[0012] Furthermore, the present invention also includes a sub-vision module having an electromechanical coupling mother terminal. The adsorption module and the execution module both correspond to the working area formed on the predetermined building surface. The sub-vision module is detachably connected to the wrist module. The sub-vision module is used to collect the scene in the working area and form sub-scene data. The third control unit controls the adsorption module and the execution module based on the execution signal and the scene data.

[0013] Furthermore, the adsorption module has multiple adsorption mechanisms, including suction cup assemblies and connecting rod assemblies. There are two suction cup assemblies, each consisting of a suction cup cylinder, a suction cup with a rod, and an internal compression spring. The suction cup cylinder is hollow. The suction cup with the rod has a hollow suction rod and a suction cup body connected to one end of the suction rod. The suction rod is coupled to an external negative pressure air pump and is movably installed inside the suction cup cylinder. The adsorption direction of the suction cup body faces the building facade. The internal compression spring is located inside the suction cup cylinder, and the suction rod passes through the cylinder... The compression spring is elastically connected to the inner wall of the suction cup cylinder. The linkage assembly includes a fixed entity, a connecting lever, and a stabilizing chain. The connecting lever is hinged to the fixed entity. The two ends of the connecting lever can rotate and are respectively hinged to the two suction cup cylinders. The two ends of the stabilizing chain are respectively hinged to the two suction cup cylinders. Thus, the two suction cup cylinders, the connecting lever, and the stabilizing chain form a planar linkage mechanism. Multiple adsorption mechanisms are arranged in a circle. All suction cup bodies are arranged in two coaxial circles, and multiple adsorption mechanisms share a fixed entity.

[0014] Furthermore, the present invention also includes a connecting entity, wherein multiple suction cup cylinders located in the inner ring are connected to the connecting entity, the inner wall of the suction cup cylinder has a guide groove, the outer peripheral surface of the suction rod has a guide protrusion that cooperates with the guide groove, the suction cup body is located outside the suction cup cylinder, and the end of the suction cup cylinder away from the suction cup body is used as the lever rotation end, and the two ends of the connecting lever are respectively hinged to the two lever rotation ends.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. Because the easily expandable climbing robot of the present invention includes a main vision module, a trunk module, at least two limb chain units, a wrist module, and an adsorption module, the ends of the main vision module, limb chain units, and adsorption module all have electromechanical coupling female terminals, and the trunk module and wrist module each have multiple electromechanical coupling male terminals. The electromechanical coupling male terminals and electromechanical coupling female terminals are correspondingly coupled, so that one end of the main vision module and limb chain unit is detachably connected to the trunk module, and the other end of the limb chain unit and adsorption module are detachably connected to the wrist module. The limb chain unit includes an arm module and two joint composites. The arm module is rod-shaped and has electromechanical coupling male terminals at both ends. The joint composites include at least two joint servo motors, and the joint composites can achieve at least The invention features two-dimensional torque output. The main module includes a first control unit for controlling the limb chain, the arm module includes a second control unit for controlling the joint composite, and the wrist module includes a third control unit for controlling the adsorption module. Therefore, the invention achieves the connection configuration of at least one limb chain unit through the main module, the configuration of at least one adsorption module for the corresponding limb chain unit through the wrist module, and coordinated control of multiple limb chain units and targeted control of the adsorption module through the first, second, and third control units. Thus, the invention has excellent scalability and configuration capability, allowing for flexible adjustment of the robot's formation structure according to the scenario, making it highly flexible.

[0016] 2. Because the execution module of the present invention is selected from one or more of the water spray module, the gripper module, and the welding gun module, the water spray module is used to spray water to the outside to achieve the effect of flushing dirt; the gripper module has a pair of conjugate grippers that can move in a conjugate manner to achieve the effect of removing debris and garbage; and the welding gun module is used to perform welding work on the working interface, the present invention can perform routine work simultaneously by configuring one or more execution modules, thereby greatly improving the application efficiency of the present invention and reducing the application cost of the present invention.

[0017] 3. Because the electromechanical coupling male terminal of the present invention has a coupling slot and an electrical socket, and the electromechanical coupling female terminal has a female coupling groove that fits and mates with the electromechanical coupling male terminal, and the female coupling groove has an embedded and elastically expandable coupling tongue and an electrical connection post, the coupling tongue mates with the coupling slot, and the electrical socket is inserted with the mating electrical connection post, the present invention achieves mechanical connection between the electromechanical coupling male terminal and the electromechanical coupling female terminal through the female coupling groove, achieves electrical connection through the electrical socket and the electrical connection post, and ensures the stability of the mechanical and electrical connection through the mating of the coupling tongue and the coupling slot.

[0018] 4. Because the main vision module of the present invention is used to form main scene data, the first control unit sends a walking signal, a lateral movement signal, a climbing signal, and an execution signal to the limb chain selectively based on the main scene data. The second control unit controls the joint servo motor to perform sequential actions based on the walking signal, the lateral movement signal, or the climbing signal. The second control unit stops controlling the joint servo motor based on the execution signal. The third control unit controls the adsorption module and the execution module based on the execution signal. Therefore, the first control unit, the second control unit, and the third control unit of the present invention control the corresponding modules in an orderly manner through signal transmission.

[0019] 5. Because the second control unit of the present invention controls two joint composites of the same limb chain unit to rotate simultaneously along the same dimension at opposite predetermined travel angles based on travel signals, the second control unit controls two joint composites of the same limb chain unit to rotate simultaneously along the same dimension at opposite predetermined lateral displacement angles based on lateral displacement signals, and the second control unit controls two adjacent joint composites of different limb chain units to rotate simultaneously along the same dimension at the same predetermined climbing angle based on climbing signals, the present invention can achieve: sequential execution of at least two limb chains based on travel signals to enable the robot to move forward and backward in a straight line; sequential execution of at least two limb chains based on lateral displacement signals to enable the robot to move left and right in a straight line; and sequential execution of two limb chains based on lateral displacement signals to enable the robot to move on a discontinuous working surface.

[0020] 6. Because the present invention also includes a sub-vision module with an electromechanical coupling mother terminal, the adsorption module and the execution module both correspond to the working area formed on the predetermined building surface, the sub-vision module is detachably connected to the wrist module, the sub-vision module is used to collect the scene of the working area and form sub-scene data, and the third control unit controls the adsorption module and the execution module based on the execution signal and the scene data, the present invention can collect detailed scene data of the working area through the sub-vision module without being affected by the occlusion of the execution module.

[0021] 7. Because the adsorption module of the present invention has multiple adsorption mechanisms, the adsorption mechanism includes a suction cup assembly and a connecting rod assembly. The suction cup assembly includes a suction cup cylinder, a suction cup with a rod, and an internal compression spring. The suction cup cylinder is hollow. The suction cup with a rod has a hollow suction rod and a suction cup body connected to one end of the suction rod. The suction rod is coupled to an external negative pressure air pump. The suction rod is inserted into and movably disposed inside the suction cup cylinder. The adsorption direction of the suction cup body faces the exterior facade of the building. The internal compression spring is located inside the suction cup cylinder, and the suction rod is elastically connected to the inner wall of the suction cup cylinder through the internal compression spring. The connecting rod assembly includes a fixed entity, a connecting lever, and a stabilizing chain. The connecting lever is hinged to the fixed entity, and both ends of the connecting lever are rotatable and hinged respectively. On the two suction cup cylinders, the two ends of the stabilizing chain are respectively hinged to the two suction cup cylinders, so that the two suction cup cylinders, the connecting lever and the stabilizing chain form a planar linkage mechanism. Multiple adsorption mechanisms are arranged in a circle, and all suction cup bodies are arranged in two coaxial circles. Moreover, multiple adsorption mechanisms share a fixed entity. Therefore, the present invention uses the lever principle to make the two suction cup cylinders move in opposite linear directions. When encountering a concave or convex surface, when the inner or outer ring suction cup body is lifted, the corresponding outer or inner ring suction cup body will move in the opposite direction. Thus, all the suction cup bodies of the entire adsorption module can always be adsorbed under negative pressure on the entire concave or convex surface, which can ensure that the present invention can better adsorb onto the surface of the intended building. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of an easily expandable climbing robot according to Embodiment 1 of the present invention; Figure 2 This is a diagram showing the fit between the electromechanical coupling male terminal and the electromechanical coupling female terminal according to Embodiment 1 of the present invention; Figure 3 For the present invention Figure 2 Exploded views (from two angles); Figure 4 This is a schematic diagram of the main visual module or sub-visual module according to Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the main module or wrist module of Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of a limb chain unit according to Embodiment 1 of the present invention; Figure 7 This is a schematic diagram of the arm module according to Embodiment 1 of the present invention; Figure 8 This is a schematic diagram of the joint composite component according to Embodiment 1 of the present invention; Figure 9 This is a schematic diagram of the adsorption module according to Embodiment 1 of the present invention; Figure 10 This is a schematic diagram of the adsorption mechanism according to Embodiment 1 of the present invention; Figure 11 This is an exploded view (from two angles) of the suction cup assembly according to Embodiment 1 of the present invention. Figure 12 This is a schematic diagram of the water spray module according to Embodiment 1 of the present invention; Figure 13 This is a schematic diagram of the water spray module for removing water from the storage container according to Embodiment 1 of the present invention; Figure 14 This is a schematic diagram of the gripper module according to Embodiment 1 of the present invention; Figure 15 This is a schematic diagram illustrating the engagement of the gripper motor, drive disc gear, idler gear, and core gear in Embodiment 1 of the present invention. Figure 16 This is a schematic diagram of the welding torch module according to Embodiment 1 of the present invention; Figure 17 This is a gait diagram of a limb chain unit under a walking signal according to Embodiment 1 of the present invention; Figure 18 This is a gait diagram of a limb chain unit under lateral displacement signal according to Embodiment 1 of the present invention; Figure 19 This is a gait diagram of a limb chain unit under a climbing signal according to Embodiment 1 of the present invention; Figure 20 This is a schematic diagram of an easily expandable climbing robot according to Embodiment 2 of the present invention.

[0023] In the diagram: 100. Expandable climbing robot; 10. Main vision module; 11. Camera; 20. Main frame module; 30. Limb chain unit; 31. Arm module; 32. Joint composite; 321. Joint servo motor; 322. Connecting bracket; 40. Wrist module; 50. Adsorption module; 51. Adsorption mechanism; 511. Suction cup assembly; 5111. Suction cup cylinder; 51111. Guide groove; 5112. Suction cup with rod; 51121. Air extraction rod; 51122. Suction cup body; 51123. Guide protrusion; 5113. Internal compression spring; 512. Linkage assembly; 5121. Fixed entity; 5122. Connecting lever; 5123. Stabilizing link; 52. Connecting entity; 61. Water spray module; 611. Water spray shell; 6111. Water storage chamber; 6 112. Spray nozzle; 612. Gear pump; 613. Water storage container; 62. Gripper module; 621. Gripper motor; 622. Drive disc gear; 623. Idler gear; 624. Conjugate gripper; 6241. Meshing gear; 63. Welding torch module; 631. Welding torch housing; 6311. Air outlet; 632. Electronic igniter; 6321. Ignition part; 70. Sub-vision module; 81. Electromechanical coupling male terminal; 81a. Male terminal coupling peripheral surface; 81b. Male terminal coupling end face; 811. Coupling slot; 812. Electrical socket; 813. End face blind hole; 82. Electromechanical coupling female terminal; 821. Female terminal coupling groove; 8211. Coupling tongue; 8212. Electrical connection post; A1. Predetermined travel angle; A2. Predetermined lateral movement angle; A3. Predetermined climbing angle. Detailed Implementation

[0024] To make the technical means, creative features, objectives and effects of the present invention easier to understand, the following embodiments, in conjunction with the accompanying drawings, specifically illustrate the easily expandable climbing robot of the present invention. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0025] <Example 1> like Figure 1 As shown, the easily expandable climbing robot 100 in this embodiment is attached to the surface of a predetermined building. Specifically, the outer surface of the predetermined building has an arc-shaped surface or an uneven structural shape, or is a part formed by a combination of many discontinuous surfaces.

[0026] The expandable climbing robot 100 includes a main vision module 10, a trunk module 20, a limb chain unit 30, a wrist module 40, an adsorption module 50, an execution module, a sub-vision module 70, an electromechanical coupling male terminal 81, and an electromechanical coupling female terminal 82. Specifically, there is one trunk module 20, two limb chain units 30 and two wrist modules 40, and six execution modules, two of which are set on the trunk module 20, two of which are set on one wrist module 40, and two of which are set on another wrist module 40.

[0027] like Figure 2 and Figure 3 As shown, the electromechanical coupling male terminal 81 and the electromechanical coupling female terminal 82 are mutually matched and detachable.

[0028] The electromechanical coupling male terminal 81 has a male terminal coupling peripheral surface 81a and a male terminal coupling end surface 81b. The male terminal coupling peripheral surface 81a has a coupling slot 811, and the male terminal coupling end surface 81b has an electrical socket 812. Specifically, the electromechanical coupling male terminal 81 is cylindrical, the electrical socket 812 is a through hole, and the electromechanical coupling male terminal 81 has a threaded hole (not shown in the figure), so that it can be assembled onto related components. The electrical socket 812 is a through hole that penetrates the thickness of the electromechanical coupling male terminal 81. In this embodiment, the male terminal coupling end surface 81b has an end face blind hole 813, and the threaded hole is formed at the bottom of the end face blind hole 813. There are multiple coupling slots 811 and electrical sockets 812, and the multiple coupling slots 811 are evenly distributed along the male terminal coupling peripheral surface 81a. The electromechanical coupling female terminal 82 has a female terminal coupling groove 821 that is sleeved and fitted with the electromechanical coupling male terminal 81. The female terminal coupling groove 821 has a female terminal coupling inner wall (not shown in the figure) and a female terminal coupling bottom surface (not shown in the figure).

[0029] The inner wall of the female coupling has an embedded and elastically expandable coupling tongue 8211, which corresponds to and engages with the coupling slot 811. The bottom surface of the female coupling has an electrical connection post 8212 that engages with the electrical socket 812. In this embodiment, the female coupling groove 821 is cylindrical, and the bottom surface of the female coupling has a threaded hole (not shown in the figure), so that it can be assembled onto related components. When the electromechanical coupling male end 81 begins to be inserted into the female coupling groove 821, the coupling tongue 8211 retracts toward the inner wall of the female coupling. When the electromechanical coupling male end 81 is engaged and inserted into the female coupling groove 821, the coupling tongue 8211 engages with the coupling slot 811, thereby forming a stable mechanical connection structure. At this time, the electrical connection post 8212 is engaged and inserted into the electrical socket 812, thereby forming a stable electrical connection structure.

[0030] The ends of the main vision module 10, the limb chain unit 30, and the adsorption module 50 are all equipped with electromechanical coupling female terminals 82, and the main trunk module 20 and the wrist module 40 are all equipped with multiple electromechanical coupling male terminals 81. The electromechanical coupling male terminals 81 and the electromechanical coupling female terminals 82 are correspondingly matched, so that one end of the main vision module 10 and the limb chain unit 30 is detachably connected to the main trunk module 20, and the other end of the limb chain unit 30 and the adsorption module 50 are detachably connected to the wrist module 40.

[0031] like Figure 4 As shown, the main vision module 10 is mounted on the main module 20, and the sub-vision module 70 is mounted between the wrist modules 40. Both the main vision module 10 and the sub-vision module 70 have electromechanical coupling terminals 82 and multiple cameras 11 and vision modules (not shown in the figures). The main vision module 10 and the sub-vision module 70 are used to collect external scenes and form main scene data and sub-scene data respectively. Specifically, in the implementation of the easily expandable climbing robot 100, the adsorption module 50 and the execution module correspond to the working area formed on the predetermined building surface. This working area is partially or completely blocked by the adsorption module 50 and the execution module relative to the main vision module 10. Therefore, when the adsorption module 50 and the execution module are working in the specific working area, the sub-vision module 70 can provide clearer sub-scene data, thereby enabling the execution module to perform relevant routine operations more accurately.

[0032] like Figure 5 As shown, in this embodiment, the main module 20 is cylindrical and has five electromechanical coupling male terminals 81 and one electromechanical coupling female terminal 82, so that in addition to being connected to the main vision module 10, the main module 20 can be detachably assembled with up to five or more limb chain units 30.

[0033] like Figure 6 and Figure 7 As shown, the limb chain unit 30 includes an arm module 31 and two joint composites 32.

[0034] The arm module 31 is rod-shaped and has electromechanical coupling male terminals 81 at both ends.

[0035] The joint composite component 32 includes at least two joint servo motors 321, with the output shafts of two adjacent joint servo motors 321 perpendicular to each other. One joint servo motor 321 is fixed to the output end of the other joint servo motor 321, thereby enabling the joint composite component 32 to achieve torque output in at least two dimensions. Specifically, as shown... Figure 8 As shown, the joint composite 32 includes three joint servo motors 321. Each end of the joint composite has two electromechanical coupling female terminals 82, thereby connecting to the wrist module 40 and the arm module 31 via both ends. In this embodiment, as... Figure 8As shown, the joint composite 32 also includes a U-shaped connecting bracket 322, through which one joint servo motor 321 is fixed to the output end of another joint servo motor 321.

[0036] like Figure 9 As shown, the adsorption module 50 has multiple adsorption mechanisms 51 and connecting entities 52.

[0037] Multiple adsorption mechanisms 51 are arranged in a circular pattern and are continuously closed and connected by connecting entities 52.

[0038] like Figure 10 and Figure 11 As shown, the adsorption mechanism 51 includes a suction cup assembly 511 and a connecting rod assembly 512.

[0039] There are two suction cup assemblies 511, including a suction cup cylinder 5111, a suction cup with a rod 5112, and an internal compression spring 5113.

[0040] The suction cup cylinder 5111 is hollow. Specifically, the circumferential surface of the suction cup cylinder 5111 has a guide groove 51111 along its own extending direction.

[0041] The suction cup 5112 has a detachably connected suction rod 51121 and a suction cup body 51122.

[0042] The suction rod 51121 is hollow, and the suction cup body 51122 is a negative pressure suction cup, which is connected to one end of the suction rod 51121. The suction rod 51121 is coupled to an external negative pressure air pump (not shown in the attached figure). The suction rod 51121 is inserted into the suction cup cylinder 5111 and is movably arranged inside the suction cup cylinder 5111 along the extension direction of the guide groove 5111.

[0043] The suction rod 51121 has a circumferentially outwardly protruding guide protrusion 51123 that fits through the guide groove 51111. When the suction rod 51121 moves linearly relative to the suction cup cylinder 5111, the guide protrusion 51123 moves within the guide groove 51111.

[0044] The suction cup body 51122 is located outside the suction cup cylinder 5111, and the end of the suction cup cylinder 5111 that is away from the suction cup body 51122 is used as the lever rotation end (not shown in the figure).

[0045] The suction cup body 51122 is directed towards the exterior of the intended building. The internal compression spring 5113 is located inside the suction cup cylinder 5111, and the suction rod 51121 is elastically connected to the inner wall of the suction cup cylinder 5111 through the internal compression spring 5113.

[0046] The linkage assembly 512 includes a fixed body 5121, a connecting lever 5122, and a stabilizing link 5123.

[0047] The connecting lever 5122 is hinged to the fixed entity 5121. The two ends of the connecting lever 5122 are rotatable and are respectively hinged to one of the suction cup cylinders 5111 of the two suction cup assemblies 511, that is, respectively hinged to the two suction cup cylinders 5111. In other words, the two ends of the connecting lever 5122 are respectively hinged to the two rotating ends of the lever. The two ends of the stabilizing chain 5123 are respectively hinged to the two suction cup cylinders 5111. Thus, the two suction cup cylinders 5111, the connecting lever 5122 and the stabilizing chain 5123 form a planar linkage mechanism.

[0048] All suction cup bodies 51122 are arranged in two coaxial circles, and multiple suction mechanisms 51 share a fixed entity 5121. Multiple suction cup cylinders 5111 in the inner circle are connected to the connecting entity 52. ​​Specifically, the two suction cup components 511 of the same suction mechanism 51 are located in the inner circle and the outer circle, respectively.

[0049] The execution module has an electromechanical coupling female terminal 82, thereby enabling a detachable connection between the execution module and the main module 20 or the wrist module 40.

[0050] The execution module is selected from one or more of the water spray module 61, the gripper module 62, and the welding torch module 63.

[0051] like Figure 12 and Figure 13 As shown, the water spray module 61 has a water spray housing 611 and a gear pump 612.

[0052] The water spray housing 611 has a water storage chamber 6111 and a water spray nozzle 6112 that are interconnected. The water storage chamber 6111 sprays water to the outside through the gear pump 612 and the water spray nozzle 6112. Specifically, a water storage container 613 is detachably provided on the water spray housing 611, and the water storage container 613 is connected to the water storage chamber 6111.

[0053] like Figure 14 and Figure 15 As shown, the gripper module 62 has a gripper motor 621, a drive disc gear 622, an idler gear 623, and a pair of conjugate grippers 624.

[0054] The drive disc gear 622 is fixed on the output end of the gripper motor 621. One end of the conjugate gripper 624 is the gripping end, and the other end has a meshing gear 6241. A pair of conjugate grippers 624 mesh with each other through the meshing gear 6241 to form a conjugate meshing transmission. The drive disc gear 622 forms a transmission mesh with a meshing gear 6241 through an idler gear 623. In this embodiment, both the drive disc gear 622 and the idler gear 623 are disc gears.

[0055] like Figure 16 As shown, the welding torch module 63 includes a welding torch housing 631, an air inlet valve (not shown in the figure), and an electronic igniter 632.

[0056] The welding torch housing 631 has an air inlet (not shown in the figure) and an air outlet 6311. The air inlet is connected to the outside through an air inlet valve. The electronic igniter 632 is located next to the air outlet 6311 and has an ignition part 6321 facing outward from the air outlet 6311.

[0057] The main module 20 includes a first control unit (not shown in the figure), which is used to select and control the limb chain unit 30 to perform relevant gait movements based on the main scene data. The arm module 31 includes a second control unit (not shown in the figure), which is used to control the joint composite 32. The wrist module 40 includes a third control unit (not shown in the figure), which controls the adsorption module and the execution module based on the execution signal issued by the second control unit and the sub-scene data.

[0058] The first control unit sends a travel signal, a lateral movement signal, a climbing signal, and an execution signal to the second control unit of the limb chain unit 30 based on the main scene data. The second control unit controls the joint servo motor 321 to perform sequential actions based on the travel signal, lateral movement signal, or climbing signal. The second control unit stops controlling the joint servo motor 321 based on the execution signal. The third control unit controls the adsorption module 50 and the execution module based on the execution signal.

[0059] Specifically, the gait movement process of the easily expandable climbing robot 100 continues in the sequence of gait 1, gait 2, gait 3, and gait 4.

[0060] like Figure 17 As shown, when the easily expandable climbing robot 100 moves along a predetermined straight line, starting from gait 1, one adsorption module 50 detaches from the corresponding work area. The second control unit controls the two joint composites 32 of the same limb chain unit 30 to rotate simultaneously along the same dimension at opposite predetermined travel angles A1 (gait 2). After moving along the predetermined straight line and stopping, it adsorbs the corresponding work area through the adsorption module 50. Then, the other adsorption module 50 detaches from the corresponding work area, and the two joint composites 32 of the opposite limb chain unit 30 rotate simultaneously along the same dimension at opposite predetermined travel angles A1 (gait 3). After moving along the predetermined straight line and stopping, it adsorbs the corresponding work area through the adsorption module 50, thus forming gait 4. At this time, one step of movement is completed.

[0061] like Figure 18As shown, when the easily expandable climbing robot 100 moves towards a predetermined side, starting from gait 1, one adsorption module 50 detaches from the corresponding working area. The second control unit controls the two joint composites 32 of the same limb chain unit 30 to rotate simultaneously along the same dimension by opposite predetermined lateral displacement angles A2 (gait 2). After moving towards the predetermined side and stopping, it adsorbs the corresponding working area through the adsorption module 50. Then, the other adsorption module 50 detaches from the corresponding working area, and the two joint composites 32 of the opposite limb chain unit 30 rotate simultaneously along the same dimension by opposite predetermined displacement angles A2 (gait 3). After moving along a predetermined straight line and stopping, it adsorbs the corresponding working area through the adsorption module 50, thus forming gait 4. At this time, one lateral displacement is completed.

[0062] like Figure 19 As shown, when the easily expandable climbing robot 100 moves toward a discontinuous surface, such as from a horizontal plane to a vertical plane, starting from gait 1, one adsorption module 50 detaches from the corresponding working area. The second control unit controls two adjacent joint composites 32 of different limb chain units 30 to rotate simultaneously along the same dimension at the same predetermined climbing angle A3 (gaits 2 and 3) based on the climbing signal. After one adsorption module 50 moves from the horizontal plane toward the vertical plane and stops, it adsorbs onto the corresponding working area. Then, another adsorption module 50 detaches from the corresponding working area. The two adjacent joint composites 32 of different limb chain units 30 rotate simultaneously along the same dimension at the same predetermined climbing angle A3 in the opposite direction. After the other adsorption module 50 moves from the horizontal plane toward the vertical plane, it adsorbs onto the corresponding working area, thus forming gait 4. At this time, climbing is completed.

[0063] <Example 2> In this second embodiment, the same symbols are used for the same structures as in the first embodiment, and the same descriptions are omitted.

[0064] In Embodiment 2, the structure of the easily expandable climbing robot 100 differs from that in Embodiment 1 in that: Specifically, such as Figure 20 As shown, there is one main module 20, four limb chain units 30 and four wrist modules 40, and no execution modules.

[0065] The above embodiments are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Various modifications or variations that can be made by those skilled in the art without creative effort within the scope of the appended claims are still within the scope of protection of this patent.

Claims

1. An easily expandable climbing robot that adheres to the surface of a predetermined building, characterized in that, include: The main visual module, the trunk module, at least two limb chain units, the wrist module, and the adsorption module are all included. The main vision module, the limb chain unit, and the adsorption module all have electromechanical coupling female terminals at their ends, while the trunk module and the wrist module each have multiple electromechanical coupling male terminals. These male terminals and female terminals mate accordingly, allowing one end of the main vision module and the limb chain unit to be detachably connected to the trunk module, and the other end of the limb chain unit and the adsorption module to be detachably connected to the wrist module. The limb chain unit includes an arm module and two joint composites. The arm module is rod-shaped and has electromechanical coupling male terminals at both ends. The joint composite component includes at least two joint servo motors, with the output shafts of two adjacent joint servo motors perpendicular to each other, and one of the joint servo motors fixed to the output end of the other joint servo motor. Thus, the joint composite component can achieve torque output in at least two dimensions. The main module includes a first control unit for controlling the limb chain, the arm module includes a second control unit for controlling the joint composite, and the wrist module includes a third control unit for controlling the adsorption module.

2. The easily expandable climbing robot according to claim 1, characterized in that, Also includes: The execution module has the electromechanical coupling female terminal, thereby allowing the execution module to be detachably connected to the main module or the wrist module, and the third control unit is used to control the execution module.

3. The easily expandable climbing robot according to claim 2, characterized in that: in, The execution module is selected from one or more of the water spray module, gripper module, and welding gun module. The water spray module has a water spray housing and a gear pump. The water spray housing has a water storage chamber and a water spray nozzle that are interconnected. The water storage chamber sprays water to the outside through the gear pump and the water spray nozzle. The gripper module includes a gripper motor, a drive disc gear, an idler gear, and a pair of conjugate grippers. The drive disc gear is fixed to the output end of the gripper motor. One end of each conjugate gripper is a gripping end, and the other end has a meshing gear. The pair of conjugate grippers mesh with each other through the meshing gear to form a conjugate. The drive disc gear meshes with the meshing gear through the idler gear to form a transmission engagement. The welding torch module includes a welding torch housing, an air inlet valve, and an electronic igniter. The welding torch housing has an air inlet and an air outlet. The air inlet is connected to the outside through the air inlet valve. The electronic igniter is located near the air outlet and has an ignition part facing outward from the air outlet.

4. The easily expandable climbing robot according to claim 1, characterized in that: in, The electromechanical coupling male terminal has a male terminal coupling peripheral surface and a male terminal coupling end surface. The male terminal coupling peripheral surface has a coupling slot, and the male terminal coupling end surface has an electrical socket. The electromechanical coupling female terminal has a female terminal coupling groove that fits into the electromechanical coupling male terminal. The female terminal coupling groove has a female terminal coupling inner wall and a female terminal coupling bottom surface. The inner wall of the female coupling has an embedded and elastically expandable coupling tongue that mates with the coupling slot, and the bottom surface of the female coupling has an electrical connection post that mates with the electrical socket.

5. The easily expandable climbing robot according to claim 1, characterized in that: in, The joint composite includes three joint servo motors, and each end of the joint composite has two electromechanical coupling female terminals.

6. The easily expandable climbing robot according to claim 2, characterized in that: in, The main vision module is used to collect external scenery and form main scene data. Based on the main scene data, the first control unit selectively sends a traversal signal, a lateral movement signal, a climbing signal, and an execution signal to the limb chain. The second control unit controls the joint servo motors to perform sequential actions based on the travel signal, lateral movement signal, or climbing signal. The second control unit stops controlling the joint servo motor based on the execution signal, and the third control unit controls the adsorption module and the execution module based on the execution signal.

7. The easily expandable climbing robot according to claim 6, characterized in that: in, The second control unit controls two joint composites of the same limb chain unit to simultaneously rotate at opposite predetermined angles along the same dimension based on the travel signal. The second control unit controls two joint composites of the same limb chain unit to simultaneously rotate in opposite directions along the same dimension by predetermined lateral displacement angles based on the lateral displacement signal. The second control unit controls two adjacent joint composites of different limb chain units to rotate simultaneously along the same dimension at the same predetermined climbing angle based on the climbing signal.

8. The easily expandable climbing robot according to claim 6, characterized in that, Also includes: The sub-vision module has an electromechanical coupling mother terminal. Both the adsorption module and the execution module correspond to the working area formed on the predetermined building surface. The sub-vision module is detachably connected to the wrist module. The sub-vision module is used to collect the scene in the working area and form sub-scene data. The third control unit controls the adsorption module and the execution module based on the execution signal and the scene data.

9. The easily expandable climbing robot according to claim 8, characterized in that: in, The adsorption module has multiple adsorption mechanisms, each including a suction cup assembly and a connecting rod assembly. The suction cup assembly consists of two parts: a suction cup cylinder, a suction cup with a rod, and an internal compression spring. The suction cup cylinder is hollow, and the suction cup with a rod has a hollow suction rod and a suction cup body connected to one end of the suction rod. The suction rod is coupled to an external negative pressure air pump and is movably installed inside the suction cup cylinder. The suction direction of the suction cup body faces the exterior facade of the building. The internal compression spring is located inside the suction cup cylinder, and the suction rod is elastically connected to the inner wall of the suction cup cylinder through the internal compression spring. The linkage assembly includes a fixed entity, a connecting lever, and a stabilizing chain. The connecting lever is hinged to the fixed entity, and its two ends are rotatable and hinged to the two suction cup cylinders respectively. The two ends of the stabilizing chain are also hinged to the two suction cup cylinders respectively. Thus, the two suction cup cylinders, the connecting lever, and the stabilizing chain form a planar linkage mechanism. The multiple adsorption mechanisms are arranged in a circular pattern, all the suction cup bodies are arranged in two coaxial circles, and the multiple adsorption mechanisms share a single fixed entity.

10. The easily expandable climbing robot according to claim 9, characterized in that, Also includes: The connecting entity comprises multiple suction cup cylinders located in the inner ring, all of which are connected to the connecting entity. The inner wall of the suction cup cylinder has a guide groove, and the outer circumferential surface of the suction rod has a guide protrusion that mates with the guide groove. The suction cup body is located outside the suction cup cylinder. The end of the suction cup cylinder away from the suction cup body is used as the lever rotation end. The two ends of the connecting lever are respectively hinged to the two lever rotation ends.

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