Climbing robot with rigid-flexible integrated wall surface pipeline

Abstract

This invention discloses a rigid-flexible integrated wall-climbing robot, comprising: a rigid joint, which includes one axial rotational joint and two radial rotational joints, the two radial rotational joints being located on both sides of the axial rotational joint; two soft modules, each connected to one of the two radial rotational joints; two adsorption modules, each connected to one of the two soft modules; and multiple drive modules, located within the axial rotational joint, the two radial rotational joints, and the two adsorption modules. This rigid-flexible integrated wall-climbing robot enables positional transitions between different walls and between wall-mounted pipes, allows for rapid movement on a horizontal plane via U-shaped bends, improving work efficiency. It also enables path avoidance when encountering obstacles and increases the effective payload.

Description

Technical Field

[0001] This invention belongs to the field of robotics, specifically relating to a rigid-flexible integrated wall and pipe climbing robot. Background Technology

[0002] While soft robotics technology is developing rapidly, its practicality is generally low. Current soft robots have extremely limited payload capacity and a very limited ability to carry sensors and other detection equipment. Furthermore, most soft robots can only move forward or backward, making it difficult to achieve multi-directional or multi-gait movements. Rigid-body climbing robots, on the other hand, are relatively bulky and lack flexibility, only able to work in a single environment, exhibiting poor environmental adaptability, thus resulting in low practicality. Moreover, existing wall-climbing robots, while achieving climbing functionality, have slow movement speeds on horizontal surfaces.

[0003] Most existing pipe-climbing robots use multi-directional pressure to climb inside pipes, but this design leads to the following problems:

[0004] ① Weak adaptability: Different pipe diameters require different sizes of jacking devices to achieve climbing.

[0005] ② Poor mobility: The robot cannot pass through the U-shaped tubes inside the pipe during the climbing process. It is only suitable for long straight pipes or pipes with small bending angles.

[0006] ③ Transition function not yet realized: Previous pipe climbing robots could not enter or exit the pipe from the wall on their own, and other methods were needed to retrieve the robot, which reduced the robot's practicality. Summary of the Invention

[0007] To address the problems mentioned above in the background art, embodiments of the present invention propose a rigid-flexible integrated wall-mounted pipe climbing robot.

[0008] The rigid-flexible integrated wall-climbing robot of the present invention includes: a rigid joint, wherein the rigid joint includes one axial rotational joint and two radial rotational joints, the two radial rotational joints being located on both sides of the axial rotational joint; two soft modules, wherein the two soft modules are respectively connected to the two radial rotational joints; two adsorption modules, wherein the two adsorption modules are respectively connected to the two soft modules; and multiple drive modules, wherein the multiple drive modules are respectively located in the axial rotational joint, the two radial rotational joints, and the two adsorption modules.

[0009] Optionally, both ends of the axial rotary joint are connected to the corresponding radial rotary joints via an L-shaped component, and the two radial rotary joints are the first radial rotary joint and the second radial rotary joint.

[0010] Optionally, the software module includes six circumferentially distributed software units. Each software unit is composed of multiple fan-shaped chambers arranged linearly. The fan-shaped chambers are connected by ventilation pipes. One end of the software unit is provided with a software air inlet, which is connected to the ventilation pipes and the fan-shaped chambers. A central tube is provided in the middle of the six software units.

[0011] Optionally, the software module further includes an air inlet chamber and an air outlet chamber, which are respectively connected to both ends of the axial tube. The air inlet chamber is provided with a soft air chamber inlet, and the air outlet chamber has four air outlets evenly distributed around its circumference. The outer end face of the air inlet chamber is connected to a radial rotation joint through a soft and hard connection end.

[0012] Optionally, the software module includes a first software module and a second software module. The first software module is connected to a first radial rotation joint, and the second software module is connected to a second radial rotation joint. The first software module and the second software module have the same structure.

[0013] Optionally, the adsorption module includes a rotating joint, one end of which is connected to the outer end face of the air outlet of the soft module through a fixed end of the soft module, and the other end of which is connected to the suction cup air chamber. The air inlet of the suction cup air chamber is connected to the air outlet in the soft module, and a drive module is provided in the rotating joint.

[0014] Optionally, the adsorption module further includes a wheel converter, which is located outside the suction cup air chamber. One end of the wheel converter is connected to the negative pressure suction cup, and the other end is connected to a self-propelled wheel.

[0015] Optionally, the adsorption module includes a first adsorption module and a second adsorption module. The first adsorption module and the second adsorption module have the same structure. The first adsorption module is connected to the first software module, and the second adsorption module is connected to the second software module.

[0016] Optionally, the drive module is located in the axial rotary joint, the two radial rotary joints, and the rotary joint of the adsorption module. The drive module includes a drive force system and a control system. The drive force system includes a motor, a reducer, and a sensor. The control system includes a microprocessor and a driver.

[0017] Optionally, the reducer is a harmonic reducer, and the sensor includes an encoder and a torque sensor.

[0018] The beneficial effects of this invention are as follows: the rigid-flexible integrated wall and pipe climbing robot of this invention, through the combination of rigid joints, soft modules, and adsorption modules, realizes the positional transition between different walls and between wall pipes, solving the problem of the limited movement environment of wall climbing robots; it enables the robot to adapt to extreme pipe sizes and pass through U-shaped bends; it can also realize the transition from pipe to wall; through the wheel-disc converter, the robot can move quickly on the horizontal plane, improving work efficiency; it can achieve path avoidance when encountering obstacles, and it also increases the effective payload such as carrying sensors. Attached Figure Description

[0019] Figure 1 This is a structural schematic diagram of the rigid-flexible integrated wall-mounted pipe climbing robot according to an embodiment of the present invention.

[0020] Figure 2 This is a schematic diagram of the rigid joint in an embodiment of the present invention.

[0021] Figure 3 This is a schematic diagram of the structure of the first adsorption module in an embodiment of the present invention.

[0022] Figure 4 This is a schematic diagram of the external structure of the first software module in an embodiment of the present invention.

[0023] Figure 5 This is a schematic diagram of the internal structure of the first software module in an embodiment of the present invention.

[0024] Figure 6 This is a schematic diagram of ventilation within the fan-shaped cavity inside the software module according to an embodiment of the present invention.

[0025] Figure 7 This is a schematic diagram of the structure of the driver module in an embodiment of the present invention.

[0026] Figure 8 This is a schematic diagram of the internal structure of the first rotary converter according to an embodiment of the present invention.

[0027] Figure label:

[0028] First software module 1; First software air inlet 101; First software unit 102; First air outlet 103; First software air chamber inlet 104; First ventilation pipe 105; First air inlet chamber 106; First air outlet chamber 107; First spindle 111;

[0029] Second software module 2; Second software air inlet 201; Second software unit 202; Second air outlet 203; Second software air chamber air inlet 204;

[0030] Rigid joint 3; Axial rotation joint 301; First radial rotation joint 302; Second radial rotation joint 303; L-shaped component 304; Flexible and rigid connection end 305;

[0031] First adsorption module 4; First self-propelled wheel 401; First wheel-disc converter 402; Wheel axle rod 4021; Helical gear 4022; Large gear 4023; Motor 4024; First negative pressure suction cup 403; First rotating joint 404; First suction cup air chamber 405; First suction cup air chamber air inlet 406; Soft module fixed end 407;

[0032] Second adsorption module 5; second self-propelled wheel 501; second wheel-disc converter 502; second negative pressure suction cup 503; second rotating joint 504; second suction cup air chamber 505; second suction cup air chamber air inlet 506;

[0033] Drive module 6; harmonic reducer 601; electric motor 602; brake 603; torque sensor 604; microprocessor 605; encoder 606; deceleration brake pad 607; connecting rivet 608; locking pin 609; locking brake pad 610. Detailed Implementation

[0034] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0035] like Figures 1-8 As shown, the rigid-flexible integrated wall and pipe climbing robot of the present invention includes: a rigid joint 3, a soft module, an adsorption module, and a drive module 6. The rigid joint 3 includes an axial rotation joint 301 and two radial rotation joints, with the two radial rotation joints located on both sides of the axial rotation joint 301. There are two soft modules, each connected to one of the two radial rotation joints. There are also two adsorption modules, each connected to one of the two soft modules. That is, one soft module is connected to each end of the rigid joint 3, and an adsorption module is connected to the other end of each soft module. The rigid joint 3 can be used for rotation and to mount sensors. The soft module can turn in multiple directions, thereby enabling positional transitions between different walls and pipes. The adsorption module is used to adhere to the wall or the inner wall of the pipe, enabling movement on different surfaces.

[0036] There are multiple drive modules 6, which are located in the axial rotary joint 301, two radial rotary joints, and two adsorption modules, respectively. Each drive module 6 also carries a sensor and is used to adjust the motion parameters of each rotary joint to achieve intelligent motion control.

[0037] like Figure 2As shown, the two ends of the axial rotation joint 301 are respectively connected to the corresponding radial rotation joints through an L-shaped component 304. The axial rotation joint 301 can achieve rotation in the axial direction, and the radial rotation joint can achieve rotation in the radial direction. The angle between the two radial rotation joints can achieve a rotation of nearly 360°, which can be adjusted according to the actual situation.

[0038] The two radial rotation joints are the first radial rotation joint 302 and the second radial rotation joint 303. The first radial rotation joint 302 and the second radial rotation joint 303 can rotate relative to each other or rotate independently.

[0039] like Figure 4 , Figure 5 and Figure 6 As shown, the software module includes a first software module 1 and a second software module 2. The first software module 1 is connected to the first radial rotation joint 302, and the second software module 2 is connected to the second radial rotation joint 303. The first software module 1 and the second software module 2 have the same structure.

[0040] The first soft module 1 includes a first air inlet chamber 106, a first air outlet chamber 107, and six circumferentially distributed first soft units 102. Each first soft unit 102 is composed of multiple linearly arranged sector-shaped chambers, which are connected by first ventilation pipes 105. One end of each first soft unit 102 is provided with a first soft air inlet 101, which communicates with the first ventilation pipes 105 and the sector-shaped chambers. By inflating and deflating the first ventilation pipes 105 in different first soft units 102, the pressure parameters of the first ventilation pipes 105 in the six soft units 102 are controlled. Different pressure parameters enable the first soft module 1 to turn at different angles. By electrically controlling the inflation and deflation of air to control the pressure of each first ventilation pipe 105, bending in multiple planes can be achieved. The combination of the soft module's motion posture and rigid joints compensates for the lack of flexibility in the movement of existing climbing robots.

[0041] A first core tube 111 is provided in the middle of the six first soft units 102. The first air inlet chamber 106 and the first air outlet chamber 107 are respectively connected to the two ends of the first core tube 11. The first air inlet chamber 106 is provided with a first soft air chamber inlet 104. The first air outlet chamber 107 has four first air outlets 103 evenly distributed around its circumference. The outer end face of the first air inlet chamber 106 is connected to the first radial rotation joint 302 through a soft and hard fixed end 305. The outer end face of the first air outlet chamber 107 is connected to the adsorption module.

[0042] The adsorption module includes a first adsorption module 4 and a second adsorption module 5. The first adsorption module 4 and the second adsorption module 5 have the same structure. The first adsorption module 4 is connected to the first software module 1, and the second adsorption module 5 is connected to the second software module 2.

[0043] like Figure 3 As shown, the first adsorption module 4 includes a first disc converter 402, a first suction cup air chamber 405 and a first rotating joint 404. One end of the first rotating joint 404 is connected to the outer end face of the first air outlet chamber 107 of the first soft module 1 through the soft module fixed end 407, and the other end of the first rotating joint 404 is connected to the first suction cup air chamber 405.

[0044] The first suction cup air chamber 405 connects to four first suction cup air chamber inlets 406 and four first negative pressure suction cups 403. The four first suction cup air chamber inlets 406 are connected one-to-one with the four first air outlets 103 of the first air outlet chamber 107 in the first soft module 1, enabling control of the inflation and deflation of the four first negative pressure suction cups 403. The soft module works in conjunction with the adsorption module to achieve wall climbing via the negative pressure suction cups.

[0045] The first wheel converter 402 is located outside the first suction cup air chamber 405. One end of the first wheel converter 402 is connected to the first negative pressure suction cup 405, and the other end is connected to the first self-propelled wheel 401. The first wheel converter 402 can be rotated to switch between the first self-propelled wheel 401 and the first negative pressure suction cup 403.

[0046] like Figure 8 As shown, the first wheel converter 402 includes a motor 4024. The output shaft of the motor 4024 is connected to a large gear 4023. The large gear 4023 meshes with four helical gears 4022. Each helical gear 4022 is connected to a wheel axle 4021. The other end of the wheel axle 4021 is connected to a first self-propelled wheel 401 and a first negative pressure suction cup 403.

[0047] The conversion process is as follows: the rotation of motor 4024 drives the large gear 4023 to rotate at a certain angle. The rotation of the large gear 4023 drives the helical gear 4022 to rotate. The helical gear 4022 drives the wheel axle 4021 to rotate 180°, realizing the conversion between the first self-propelled wheel 401 and the first negative pressure suction cup 403. The first negative pressure suction cup 403 is connected to the wheel axle 4021. The wheel axle 4021 is hollow and connected to the air chamber 405 of the first suction cup by a flexible hose. The flexible hose does not affect the conversion process of the first wheel-disc converter 402.

[0048] Converting a negative pressure suction cup into a self-propelled wheel on a flat surface can increase the robot's forward speed.

[0049] The first rotating joint 404 has the same structure as the axial rotating joint 301. The axial rotating joint 301, the two radial rotating joints, and the rotating joints in the two adsorption modules are all equipped with a drive module 6.

[0050] The drive module 6 includes a drive force system and a control system. The drive force system includes an electric motor 602, a reducer, and sensors. The control system includes a microprocessor 605 and a driver. The reducer is a harmonic reducer 601, and the sensors include an encoder 606 and a torque sensor 604.

[0051] The drive system provides the power source, enabling the robot to rotate. The electric motor 602 provides power to the rotary joints, while the reducer reduces the rotational speed and increases the torque, making the robot's joint movements smoother. Sensors monitor parameters such as the rotational speed and angle of the rotary joints to achieve accurate control of the robot's movements. The torque sensor 604 can determine the magnitude of the top pressure through torque parameters during top pressure operation.

[0052] The control system receives control commands and adjusts the operating state of the actuators based on feedback signals from the sensors, enabling the robot joints to perform precise rotational movements. The control system can also automatically adjust the motion parameters of the rotary joints according to changes in the external environment, achieving intelligent motion control.

[0053] like Figure 7 As shown, the drive module 6 includes a motor 602, a harmonic reducer 601, a brake 603, a torque sensor 604, a microprocessor 605, an encoder 606, a deceleration brake pad 607, a locking brake pad 610, a connecting rivet 608, and a locking pin 609.

[0054] Brake 603 is fixed to encoder 606 and connected to microprocessor 605 via circuitry. Microprocessor is connected to encoder via connecting rivets. Brake 603 is equipped with locking pin 609, deceleration brake pad 607, and locking brake pad 610. When the robot rotates to a specified angle, microprocessor 605 controls brake 603 via circuitry, causing deceleration brake pad 607 to rub against the rotor, which, in conjunction with harmonic reducer 601, reduces the rotation speed. When the specified angle is reached, microprocessor 605 controls locking pin 609 to pop out, locking pin 609 into a groove on locking brake pad 610, thus completely locking the robot joint at a fixed angle, preventing it from rotating. When the robot joint needs to rotate, microprocessor 605 controls locking pin 609 to disengage from locking brake pad 610, and the robot joint regains its rotational ability.

[0055] The combination of the robot's rotary joints and software module 6 enables the robot to have more movement postures.

[0056] Example 1: Robot climbing on a wall

[0057] The climbing function is implemented as follows: The first suction module 4 serves as the robot's head, and the second suction module 5 serves as its tail. First, the first negative pressure suction cup 403 deflates, loosening the wall. The inner pipe of the first soft module 1 inflates while the outer pipe deflates, causing the first soft module 1 to bend outwards. This, combined with the rotation of the axial rotation joint 301, lifts the first soft module 1 and the first suction module 4, increasing the angle between the first soft module 1 and the second soft module 2. Simultaneously, the second negative pressure suction cup 503 in the second suction module 5 increases suction to prevent the robot from falling off the wall during the climb. Next, the inner side of the second soft module 2 deflates while the outer side inflates, causing the pipe to bend inwards. The second rotation joint 504 in the second suction module 5 rotates, and these two actions work together to bring the first suction module 4 and the first soft module 1 closer to the wall. The first rotation joint 404 in the first suction module 4 rotates to better adhere the first negative pressure suction cup 403 to the wall. At this point, the first negative pressure suction cup 403 in the first adsorption module 4 draws in air, causing the first adsorption module 4 to adhere to the wall surface. Then, the second adsorption module 5 deflates, detaching from the wall. The first soft module 1 deflates on its inner side and inflates on its outer side, with the entire pipe bending inwards. The second soft module 2 does the same, coordinating with the rotation of the axial rotation joint 301 and the first rotation joint 404, bringing the second adsorption module 5 closer to the first adsorption module 4. Then, the second negative pressure suction cup 503 in the second adsorption module 5 draws in air, causing it to adhere to the wall surface. These steps are repeated, enabling the robot to climb the wall.

[0058] Example 2: Turning of the robot during climbing

[0059] In addition to straight-line climbing, this robot can turn during the climbing process using rigid joints 3. For example, to achieve a left turn during climbing: First, the first negative pressure suction cup 403 in the first suction module 4 deflates, loosening the wall. The inner pipe of the first soft module 1 inflates while the outer pipe deflates, causing the first soft module 1 to bend outwards. This, combined with the rotation of the axial rotation joint 301, lifts the first soft module 1 and the first suction module 4, increasing the angle between the first soft module 1 and the second soft module 2. The second radial rotation joint 303 in the rigid joint 3 rotates counterclockwise, moving the first suction module 4 and the first soft module 1 to the left. The rotation of the first radial rotation joint 302, combined with the rotation of the first rotation joint 404, allows the first suction module 4 to better conform to the wall surface. Next, the inner side of the second soft module 2 deflates while the outer side inflates, causing the pipe to bend inwards. The second rotation joint 504 in the second suction module 5 rotates, and the two work together to bring the first suction module 4 and the first soft module 1 closer to the wall. The rotation of the first rotary joint 404 in the first adsorption module 4, in conjunction with the rotation of the first radial rotary joint 302, makes the first negative pressure suction cup 403 adhere more closely to the wall. At this time, the first negative pressure suction cup 403 in the first adsorption module 4 draws in air, causing the first adsorption module 4 to adhere to the wall surface. In this way, the robot can turn left.

[0060] Example 3: Robot transitions from wall A to wall B

[0061] The transition from wall A to wall B is achieved as follows: First, the second negative pressure suction cup 503 in the second adsorption module 5 deflates, loosening the wall. The inner pipe of the second soft module 2 inflates while the outer pipe deflates, causing the soft pipes to bend outwards. This, combined with the rotation of the axial rotation joint 301, lifts the second soft module 2 and the second adsorption module 5, increasing the angle between the first soft module 1 and the second soft module 2. The suction cup in the first adsorption module 4 increases its suction force to prevent the robot from detaching from the wall during transit. After the axial rotation joint 301 rotates to bring the second adsorption module 5 and the second soft module 2 to the height of wall B, the first radial rotation joint 302 rotates to orient the second negative pressure suction cup 503 of the second adsorption module 5 towards wall B. The second rotation joint 504 rotates to better adhere the second negative pressure suction cup 503 to wall B. The second negative pressure suction cup 503 then inhales, and the second adsorption module 5 adheres to wall B. Next, the first negative pressure suction cup 403 in the first adsorption module 4 deflates, and the axial rotation joint 301 rotates, raising the first adsorption module 4 and the second soft module 1 to a certain height. The second radial rotation joint 303 rotates, causing the first soft module 1 and the first adsorption module 4 to rotate as a whole, with the first negative pressure suction cup 403 facing the wall surface B. Then, the axial rotation joint 301 rotates, deflating the side of the first soft module 1 closest to the wall and inflating the other side. The second soft module 2 deflates the side closest to wall B and inflates the other side. Simultaneously, the second rotation joint 504 rotates, bringing the first soft module 1 closer to wall B. The first rotation joint 404 rotates, causing the first negative pressure suction cup 403 to adhere to wall B. The first negative pressure suction cup 403 in the first adsorption module 4 draws air in, causing the first adsorption module 4 to adhere to the wall surface. The robot completes the positional transition between different wall surfaces.

[0062] Example 4: Creeping in pipes of different diameters

[0063] For vertical pipes with a diameter much larger than the robot's bending deformation length, the robot can crawl along the pipe direction using a inchworm-like wall-climbing motion, similar to the wall-climbing motion described earlier. For narrower horizontal pipes, it can be fixed by top-pressure fixation and then move inside the pipe using self-propelled wheels. In a rough pipe where the pipe size is smaller than the robot's axial deformation length: the first soft module 1 and the second soft module 2 maintain their shape under full pressure on both sides of the six tubes. The robot is deployed via rigid joint 3, and simultaneously, the angles of the first suction module 4 and the second suction module 5 are adjusted using the first rotating joint 404 and the second rotating joint 504 to ensure their suction cups adhere to the inner wall of the pipe. Then, the robot switches to the first self-propelled wheel 401 via the first wheel converter 402, and then to the second self-propelled wheel 501 via the second wheel converter 502, allowing the first and second self-propelled wheels 401 to adhere to the inner wall of the pipe for top-pressure fixation. After fixation, the robot moves inside the pipe driven by the first and second self-propelled wheels 401 and 501.

[0064] Example 5: Using a U-shaped tube

[0065] For a horizontal U-shaped bend in a pipe: When the sensor detects a horizontal U-shaped bend ahead, the first wheel converter 402 and the second wheel converter 502 are activated, bringing the first self-propelled wheel 401 and the second self-propelled wheel 501 into contact with the pipe. The rotation angle of the axial rotation joint 301 is adjusted so that the first soft module 1 and the second soft module 2 are at no angle. Air intake from the first soft air inlet 101 and the second soft air inlet 201 is stopped, keeping the first soft module 1 and the second soft module 2 flexible and conforming to the U-shaped pipe wall. At this time, the first self-propelled wheel 401 and the second self-propelled wheel 501 are activated, providing driving force for the robot to pass through. The soft modules conform to the shape of the pipe wall, and the robot smoothly passes through the horizontal U-shaped pipe.

[0066] Through a vertical U-shaped bend in the pipe: Assuming the robot is currently moving upwards, with the second suction module 5 below and the first suction module 4 above, air enters through the air inlet 406 of the first suction cup, causing the first negative pressure suction cup 403 to adhere tightly to the pipe wall. The rotating axis rotation joint 301, in conjunction with the first soft module 1 and the second soft module 2, lifts the second suction module 5 to a position adjacent to the first suction module 4. Then, air enters through the air inlet 506 of the second suction cup, causing the second negative pressure suction cup 503 to adhere tightly to the pipe wall. Air is released from the first suction cup air chamber 405 of the first adhesion module 4, causing the first negative pressure suction cup 403 to no longer adhere. At this point, the axial rotation joint 301, in conjunction with the first soft module 1 and the second soft module 2, lifts the clinging module 4 into the U-shaped tube. The second negative pressure suction cup 403 cannot contact the tube wall at this time. Air then enters through the first soft air inlet 101 of the first soft module 1, aligning the first soft module 1 with the curvature of the U-shaped tube. Adjusting the rotation angle of the first rotation joint 404 causes the first suction module 4 to have its first negative pressure suction cup 403 adhere to the U-shaped tube. Air then enters through the first suction cup air chamber inlet 406, causing the first negative pressure suction cup 403 to firmly adhere to the tube wall. The second suction module 5 is then no longer attached. Using the axial rotation joint 301 and the second soft module 2, the second suction module 5 is lifted to the position of the first suction module 4 at the previous moment. This process is repeated. Due to the flexible rotation of the robot's first rotation joint 404 and second rotation joint 504, the first suction module 4 and the second suction module 5 can flexibly cling to the curved wall of the U-shaped tube, allowing it to pass flexibly through the vertical U-shaped tube.

[0067] Example 6: Pipe-wall transition movement mode

[0068] The transition movement between the inner and outer walls of the pipe is driven by the central rigid joint 3, causing the second soft module 2 to rotate radially relative to the first soft module 1. The second soft module 2 is used to adjust the position of the front and rear adsorption modules, and is driven by the central axial rotation joint 301 and the first soft air inlet 101 and the external air pump. The specific transition process is as follows: First, the detector on the second adsorption module 5 senses that the second adsorption module 5 has moved to the intersection of the end of the pipe and the outer vertical wall. At this time, the second adsorption module 5 is located at the edge of the end of the pipe, the robot is in a folded state, and the first adsorption module 4 is located near the rear of the second adsorption module 5, forming a two-legged stance.

[0069] At this point, the first stage of the transition movement begins, and the second soft module 2 extends forward: First, the first soft air inlet 104 is driven by an external air pump to generate negative pressure, causing the first negative pressure suction cup 403 to be negatively adsorbed in the pipe. The first adsorption module 4 and the first soft module 1 are in a fully pressurized state, supporting the entire robot. The rigid joint 3 drives the angle between the two soft modules to increase from an acute angle, achieving the effect of opening the two soft modules. Since the position of the first soft module 1 has been fixed by the first adsorption module 4, the second soft module 2 extends forward.

[0070] Next, the second stage of the transition movement begins, where the second adsorption module 2 is adsorbed and fixed to the outer wall. Depending on the angle of intersection between the pipe and the outer wall, the position of the second adsorption module 5 can be controllably adjusted by changing the angle of the robot's rigid joint 3 and coordinating with the fluid-driven bending deformation of the second soft module 2. Taking the intersection of a horizontal pipe and a vertical wall as an example, to achieve the transition to the lower end of the pipe outlet on the vertical wall, firstly, the rigid joint 3 drives the second soft module 2 to a 90-degree angle relative to the first drive module 4. Simultaneously, the first rotating joint 404 on the first adsorption module 4 drives the first soft module 1 to reduce the angle between it and the horizontal plane of the pipe. With the change in the angles of the two joints, the second adsorption module 5 will move towards the vertical wall. At this point, only a slight adjustment of the second rotating joint 504 on the second adsorption module 5, combined with the bending deformation of the second soft module 2, is needed to bring the second adsorption module 5 into contact with the vertical wall.

[0071] Next, the third stage of the transition movement begins, with the two adsorption modules coming together: First, the second adsorption module 5 needs to be adsorbed and fixed to the vertical wall, with the fixing method and operation as described above. After fixing, the first adsorption module 4 is depressurized and released. Next, the second rotating joint 504 in the second adsorption module 5 increases the angle between the second soft module 2 and the wall to lift the robot from inside the pipe to the vertical wall. The rigid joint 3 in the middle drives the angle between the two soft modules to decrease, thereby adjusting the position of the first adsorption module 4. With the bending deformation of the soft module, the two adsorption modules come together again, thus completing the transition from inside the pipe to the wall.

[0072] Example 7: Rapid movement on a horizontal plane

[0073] After the robot transitions from a pipe surface or wall surface to a horizontal surface, the first soft module 1 and the second soft module 2 inflate to maintain a stable shape and no longer change. Simultaneously, the first rotary joint 404 rotates in conjunction with the first radial rotary joint 302, bringing the first radial rotary joint 302 into contact with the ground. At this point, the first rotary joint 404 locks itself using its own brake 603, preventing further rotation. After locking, the first radial rotary joint 302 rotates, lifting the second suction module 5 upwards. After the second negative pressure suction cup 503 leaves the ground, the second wheel converter 502 operates, switching the second self-propelled wheels 501 to the side closer to the horizontal surface. Simultaneously, the second rotary joint 504 rotates, bringing the four second self-propelled wheels 501 into contact with the horizontal surface. The second suction module... After the wheel conversion of block 5 is completed, the second rotary joint 504 is locked by its own brake 603. At this time, the first radial rotary joint 302 is rotated to lift the first suction module 4 upward. After the first negative pressure suction cup 403 leaves the ground, the first wheel converter 402 works to switch the first self-propelled wheel 401 to the side closer to the horizontal plane. At the same time, the first rotary joint 404 is rotated to make the four first self-propelled wheels 401 adhere to the ground. After the second self-propelled wheels 501 and the first self-propelled wheels 401 at both ends of the robot are switched, the first radial rotary joint 302 is rotated to leave the horizontal plane. The second self-propelled wheels 501 and the first self-propelled wheels 401 drive to achieve rapid horizontal movement. When turning on the horizontal plane, the speed difference is generated by controlling the speed of the self-propelled wheels on both sides to achieve differential turning of the robot.

[0074] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0075] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0076] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0077] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0078] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. 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. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0079] Although the above embodiments have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Any changes, modifications, substitutions and variations made to the above embodiments by those skilled in the art are within the protection scope of the present invention.

Claims

1. A rigid-flexible integrated wall-climbing and pipe-climbing robot, characterized in that, include: A rigid joint, comprising an axial rotary joint and two radial rotary joints, the two radial rotary joints being located on opposite sides of the axial rotary joint; The software module has two components, each connected to one of two radial rotary joints. The adsorption module has two components, each connected to a software module. The adsorption module includes a rotating joint. One end of the rotating joint is connected to the outer end face of the air outlet of the soft module through the fixed end of the soft module. The other end of the rotating joint is connected to the suction cup air chamber. The air inlet of the suction cup air chamber is connected to the air outlet in the soft module. A drive module is provided in the rotating joint. The adsorption module further includes a wheel converter, which is located outside the suction cup air chamber. One end of the wheel converter is connected to the negative pressure suction cup, and the other end is connected to the self-propelled wheel. The negative pressure suction cup is in communication with the suction cup air chamber. The driving module comprises multiple driving modules, which are respectively located in the axial rotation joint, two radial rotation joints, and two adsorption modules.

2. The rigid-flexible integrated wall-climbing pipe robot according to claim 1, characterized in that, The two ends of the axial rotation joint are respectively connected to the corresponding radial rotation joints through an L-shaped component. The two radial rotation joints are the first radial rotation joint and the second radial rotation joint.

3. The rigid-flexible integrated wall-climbing pipe robot according to claim 2, characterized in that, The software module includes six circumferentially distributed software units. Each software unit is composed of multiple fan-shaped chambers arranged linearly. The fan-shaped chambers are connected by ventilation pipes. One end of the software unit is provided with a software air inlet, which is connected to the ventilation pipes and the fan-shaped chambers. A central tube is provided in the middle of the six software units.

4. The rigid-flexible integrated wall-climbing robot according to claim 3, characterized in that, The soft module further includes an air inlet chamber and an air outlet chamber, which are respectively connected to both ends of the axial tube. The air inlet chamber is provided with a soft air chamber inlet, and the air outlet chamber has four air outlets evenly distributed around its circumference. The outer end face of the air inlet chamber is connected to a radial rotation joint through a soft and hard connection end.

5. The rigid-flexible integrated wall-climbing pipe robot according to claim 4, characterized in that, The software module includes a first software module and a second software module. The first software module is connected to a first radial rotation joint, and the second software module is connected to a second radial rotation joint. The first software module and the second software module have the same structure.

6. The rigid-flexible integrated wall-climbing pipe robot according to claim 5, characterized in that, The adsorption module includes a first adsorption module and a second adsorption module. The first adsorption module and the second adsorption module have the same structure. The first adsorption module is connected to the first software module, and the second adsorption module is connected to the second software module.

7. The rigid-flexible integrated wall-climbing pipe robot according to claim 6, characterized in that, The drive module is located in the axial rotation joint, two radial rotation joints, and the rotation joint of the adsorption module. The drive module includes a drive force system and a control system. The drive force system includes a motor, a reducer, and a sensor. The control system includes a microprocessor and a driver.

8. The rigid-flexible integrated wall-climbing pipe robot according to claim 7, characterized in that, The reducer is a harmonic reducer, and the sensors include an encoder and a torque sensor.

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