Six-foot air pressure adsorption wall-climbing robot for combustion chamber detection

Abstract

The invention discloses a six-foot air pressure adsorption wall-climbing robot for combustion chamber detection, and belongs to the field of machinery. The climbing robot comprises a motion module, a circuit module and a negative pressure module. The motion module comprises a main board, a front foot and a rear foot, the front foot can achieve transition and slope climbing of different motion surfaces of the robot through three degrees of freedom, and the rear foot is simplified to be two degrees of freedom, so that the mass of the robot is reduced. The circuit module is fixed on the main board and used for controlling a robot steering engine control gas circuit element, and the mass of the circuit module is reduced through circuit simplification and module integration. The negative pressure module is fixed above the circuit module and is inspired by octopus tentacles, and controllable adsorption is achieved by controlling the pressure intensity of a suction cup at the foot end. Movement gaits capable of being used for the negative pressure adsorption six-legged robot are designed and can be divided into a starting stage, a normal movement stage and an ending stage, a circuit sequence diagram of a micropump and an electromagnetic valve is correspondingly designed, and climbing of the six-legged negative pressure adsorption robot on a slope and a vertical plane is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of industrial robots, and in particular to a negative pressure adsorption foot-type climbing robot used for combustion chamber crack detection. Background Art

[0002] The combustion chamber is one of the core components with the highest operating temperature in aircraft engines and gas turbines. With the improvement of work efficiency and thrust-to-weight ratio requirements, the operating temperature of the combustion chamber continues to rise. Since the combustion chambers in aircraft engines and gas turbines are in a harsh service environment of cyclic loads, high temperature and high pressure, problems such as fatigue failure of the combustion chamber matrix material, cracks, and shedding of thermal barrier coatings occur frequently. Therefore, how to achieve high-efficiency, high-precision non-destructive in-situ detection of combustion chamber cracks is a problem that researchers have been exploring. At present, the detection methods for cracks in the combustion chambers of aircraft engines and gas turbines mainly include endoscopic detection and disassembly detection. However, endoscopic detection relies on experience and has blind spots in the field of vision. Disassembly detection is expensive and time-consuming and labor-intensive. Compared with traditional detection methods, the use of foot-type climbing robots has the following characteristics:

[0003] (1) Reduce costs: The leg-type climbing robot is equipped with a reusable power supply module. By charging or replacing the lithium battery, it can achieve continuous execution of work. The robot is made of low-cost materials and module integration, which greatly reduces the cost of maintenance. Traditional inspection methods, such as disassembly inspection, are time-consuming and expensive. The entire disassembly takes weeks or even months.

[0004] (2) High efficiency: The leg-based climbing robot has the advantages of good flexibility and strong environmental adaptability. Through motion control, it can reach the specified location to collect, transmit, and process images, achieving damage analysis with no blind spots and higher accuracy, greatly reducing missed detections and false detections caused by manual inspections.

[0005] (3) Low requirements for operators: Disassembly inspection and endoscopic inspection require high operator experience and are complex to operate. They require a good familiarity with the internal structure of the combustion chamber to reduce the error rate. However, the leg-type climbing robot can autonomously plan the path, perform image acquisition and map reconstruction, and reduce the complexity of the operation, thereby reducing the experience requirements for the operator.

[0006] (4) Wide range of applications: The leg-based climbing robot has good adaptability to various complex and narrow environments. It can not only be used for crack detection in aircraft engines and gas turbine combustion chambers, but its anti-scratch design also enables it to be used in complex industrial application scenarios such as solid rockets, liquid rocket combustion chambers, and pipeline inspections.

[0007] Based on the above advantages, the foot-based climbing robot has great potential for application in combustion chamber crack detection of aircraft engines and gas turbines. It is a combination of foot-based climbing robots and intelligent non-destructive in-situ detection technology, and is an important means for the future development of intelligent non-destructive in-situ detection of combustion chamber cracks.

[0008] Legged climbing robots have been widely studied in recent years, but they have not been applied in actual engineering projects due to low technical maturity and large room for improvement in motion indicators. Robert J. Wood's team at Harvard University added electric adhesion patches to the robot's feet based on the HAMR series of quadruped micro-robots, and switched on and off the different electric adhesion patches in accordance with the robot's gait, achieving high movement speed at a low adhesion voltage without damaging the moving surface. However, due to the inability to achieve wireless and high energy consumption, they have not been widely used in engineering. Yin Jie and others from Temple University in the United States designed a negative pressure adsorption amphibious climbing soft robot (ACSR) that imitates the gait of worms and arranges a negative pressure adsorption actuator at the bottom of each of the robot's two feet. Its unique feature is that it does not directly suck air out of the cavity, but injects air into the top spiral channel, and realizes negative pressure in the cavity through the change in spatial volume caused by structural deformation, so that it can perform detection tasks in harsh environments. However, due to complex air path components such as trachea and air pumps, it is difficult to achieve remote wireless detection. Existing intelligent detection methods based on leg-based climbing robots all have problems of being immature and not fully integrated, making it difficult to achieve reliable and long-term engineering applications. Summary of the invention

[0009] In view of the above problems, this patent discloses a six-legged pneumatic adsorption wall-climbing robot for combustion chamber detection, aiming to solve the problems of high cost, high dependence on operator experience, and low detection efficiency in the prior art.

[0010] This patent discloses a six-legged air pressure adsorption wall climbing robot for combustion chamber detection. The climbing robot includes: a motion module, a circuit module and a negative pressure module.

[0011] The motion module comprises: a main board, four hind feet, and two front feet, the structures of the four hind feet are completely identical, and the structures of the two front feet are also completely identical; the hind feet and the front feet are symmetrically arranged on the main board, one front foot is on the left and one rear foot is on the right and two rear feet are on the left and two rear feet are ...

[0012] The main board is a sheet structure.

[0013] The hind foot includes: a first hind foot servo, a first hind foot servo rocker arm, a hind foot servo frame, a second hind foot servo, a hind foot leg, and a hind foot foot end suction cup. The body of the first hind foot servo is fixed on the main board to realize the front and rear freedom of the climbing robot. The output shaft of the first hind foot servo is connected to the first hind foot servo rocker arm, the rocker arm is connected to one end of the hind foot servo frame, and the other end of the servo frame is connected to the output shaft of the second hind foot servo. The second hind foot servo realizes the up and down freedom of the climbing robot. The hind foot leg is fixed on the body of the second hind foot servo, and a hind foot foot end suction cup is arranged at the end of the hind foot leg.

[0014] The front foot comprises: a first front foot servo, a first front foot servo rocker arm, a first front foot frame, a second front foot servo rocker arm, a second front foot servo, a second front foot frame, a third front foot servo rocker arm, a third front foot servo, a front foot leg, and a front foot foot end suction cup. The body of the first front foot servo is fixed on the main board. The output shaft of the first front foot servo is fixedly connected to the first front foot servo rocker arm. The first front foot servo rocker arm is connected to one end of the first front foot frame. The other end of the first front foot frame is connected to the second front foot servo rocker arm. The second The front foot servo rocker arm is connected to the output shaft of the second front foot servo, the body of the second front foot servo is connected to one end of the second front foot frame, the other end of the second front foot frame is connected to the third front foot servo rocker arm, the third front foot servo rocker arm is connected to the output shaft of the third front foot servo, the body of the third front foot servo is connected to the front foot leg, and the end of the front foot leg is provided with a front foot end suction cup; the first front foot servo realizes the front and rear degrees of freedom of the climbing robot, and the second and third front foot servos realize the up and down degrees of freedom of the climbing robot;

[0015] The circuit module is arranged on the main board of the motion module, and the circuit module includes: an image acquisition module, a main control chip, a power supply module, and a steering gear drive board. The power supply module supplies power to the climbing robot, and the main control chip controls the image acquisition module, the power supply module, and the steering gear drive board, and the steering gear drive board controls each steering gear;

[0016] The negative pressure module includes: a fixed plate, two micro pumps, two solenoid valves and a gas pipeline; the fixed plate is placed on the main board of the motion module, or is arranged on the circuit module, the micro pump and the solenoid valve are both arranged on the fixed plate, one micro pump and one solenoid valve form a group, which are connected to the foot-end suction cups at the ends of two hind feet and the foot-end suction cup at the end of one front foot of the robot through the designed gas pipeline; the micro pump and the solenoid valve are controlled by the main control chip; the foot-end suction cup includes two gas ports: an air suction port and an air discharge port, the air suction port is connected to the micro pump through the gas pipeline, the air discharge port is connected to the atmosphere through the gas pipeline, and the solenoid valve is arranged in the pipeline connected to the air discharge port.

[0017] Furthermore, the mainboard of the motion module is a hollow structure, and the front foot is controlled by three servos therein to achieve a semicircular trajectory movement of the front foot end.

[0018] Furthermore, all the rocker arms and all the servo frames in the motion module have the same structure; the rocker arm is a sheet structure, one end of the rocker arm is fixedly connected to the servo output shaft, and a connecting hole connected to the servo frame is opened on the rocker arm; the servo frame is a double U-shaped structure, the openings of the two U-shaped structures are facing back to back, the midpoints of the bottom are connected to form a cross structure; the two arms of each U-shaped structure are of different lengths, the longer one is directly hinged to the servo body, and the shorter one is provided with a connecting hole connected to the rocker arm.

[0019] Furthermore, the bottoms of the two U-shaped structures of the servo frame form a four-pointed star sheet structure, and an arm of the U-shaped structure extends from each corner end of the four-pointed star, and the center position of the four-pointed star structure is hollowed out.

[0020] Furthermore, all the leg structures in the motion module are the same, and the legs include two sections, the first section is connected to the servo, and the end of the second section is connected to the foot-end suction cup; the first section is a U-shaped structure, the opening of the U-shaped structure just fits the servo body, connecting holes are provided on the two arms of the U-shaped structure, and a connecting plate with connecting holes is correspondingly provided on the servo body; one end of the second end is connected to the outer side of one of the arms of the first section of the U-shaped structure, and the other end is the end of the leg connected to the foot-end suction cup.

[0021] Furthermore, the feet of the robot are encoded as 1, 2, 3, 4, 5, 6, where 1 and 4 are front feet and 2, 3, 5, 6 are rear feet. The micro pumps and solenoid valves are divided into two groups, one of which controls 1, 3, 5, and the other controls 2, 4, 6.

[0022] Compared with the prior art, this patent disclosure has at least the following beneficial effects:

[0023] The clever design of the front and rear feet improves the robot's ability to climb and overcome obstacles. Through the asymmetric design of the front and rear feet, the front foot is set with three degrees of freedom to improve climbing performance and the robot's ability to transition on different sports surfaces. The rear foot is simplified without affecting the sports design, reducing the robot's mass and volume, thereby further improving the robot's ability to perform tasks in narrow spaces.

[0024] The simplified negative pressure adsorption module achieves the adsorption function with a small volume. Compared with the existing similar negative pressure adsorption robot, the gas circuit is simplified, the number of gas circuit components and the complexity of the gas circuit are reduced, thereby reducing the mass volume of the robot's negative pressure module, making it easier to realize the wireless control and operation of the robot.

[0025] The matching air circuit control and gait design make the robot's control accurate and convenient. Combining the robot's structure and air circuit design, a matching air circuit control and gait design timing diagram is designed for this robot to achieve reliable and continuous climbing movement of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1Schematic diagram of the overall three-dimensional structure of the six-legged negative pressure adsorption climbing robot.

[0027] Figure 2 Schematic diagram of the three-dimensional structure of the motion module of the six-legged negative pressure adsorption climbing robot.

[0028] Figure 3 Schematic diagram of the three-dimensional structure of the front and rear feet of the six-legged negative pressure adsorption climbing robot.

[0029] Figure 4 This is a schematic diagram of the three-dimensional structure of the circuit module and negative pressure module of the six-legged negative pressure adsorption climbing robot.

[0030] Figure 5 Schematic diagram of the gas path design of the six-legged negative pressure adsorption climbing robot.

[0031] Figure 6 Schematic diagram of the gait design of the six-legged negative pressure adsorption climbing robot.

[0032] Figure 7 This is the timing diagram of the gas circuit control of the six-legged negative pressure adsorption climbing robot. DETAILED DESCRIPTION

[0033] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0034] A six-legged air pressure adsorption wall climbing robot for combustion chamber detection includes a motion module, a circuit module and a negative pressure module. The circuit module controls the motion module and the negative pressure module. The circuit module and the negative pressure module are both arranged on the motion module. The motion module reduces the mass of the robot while improving the climbing ability through topological optimization and structural simplification. The main structure includes a main board, a hind foot and a front foot, which constitute the main mechanical structure of the robot. The robot can move forward, backward, turn, climb, etc. through the angle control of the servo arranged on the hind foot and the front foot. The robot circuit module and the negative pressure module achieve low power consumption, small size and multi-function through the design, simplification and integration of circuits and gas circuits. The main electronic components in the circuit module include an image acquisition module, a main control chip, a power supply module and a servo drive board to realize the drive and control of the servo. The main structure of the negative pressure module includes a fixed plate, a micro pump and a solenoid valve, which cooperates with the gas circuit design to achieve adsorption and separation.

[0035] The motion module of the six-legged negative pressure adsorption climbing robot is the main functional module for the robot to move and climb to the specified position when performing the combustion chamber crack detection task. The main board is the main load-bearing structure of the robot. The hollow structure is designed to reduce the mass and is mechanically interconnected with the circuit module and the negative pressure module. The four hind feet and two front feet are symmetrically distributed on both sides of the main board. There are three servos on the front feet to realize the forward and backward swinging, up and down swinging of the robot's legs and the up and down swinging of the foot ends. Through the control of the three servos, the foot ends can move in a semicircular trajectory, thereby realizing the transition of different motion surfaces of the robot and slope climbing. The hind feet are simplified to two degrees of freedom to reduce the mass of the robot, respectively realizing the forward and backward swinging and up and down swinging of the robot's legs.

[0036] The main components of the front and rear feet of the six-legged negative pressure adsorption climbing robot include foot-end suction cups, legs, steering gear frames, steering gear rear covers and steering gears. Two air holes are distributed on the foot-end suction cups and connected to the trachea, serving as suction ports and exhaust ports. When the suction port is connected to the micro pump, negative pressure is generated in the suction cup to achieve the negative pressure adhesion function. When the exhaust port is connected to the atmosphere, atmospheric pressure is restored in the suction cup to achieve the separation of the suction cup from the moving surface. The suction cup is mechanically interconnected with the legs, and the legs are provided with grooves and threaded holes for fixing the steering gear, and the legs are hollowed out through topological optimization.

[0037] The negative pressure module of the hexapod negative pressure adsorption climbing robot includes a fixed plate, a micro pump and a solenoid valve, and two micro pumps and two solenoid valves are fixed on the fixed plate. The negative pressure module controls the connection and disconnection of the micro pump, the atmosphere and the suction cups at the foot ends, thereby realizing the controllable adsorption and detachment of the foot end suction cups. A micro pump and a solenoid valve form a group, which are connected to the two hind legs and one front leg of the robot through a designed air path, and cooperate with circuit control and gait design to realize the controllable adsorption of the suction cups.

[0038] The hexapod negative pressure adsorption climbing robot motion module cooperates with the negative pressure module to design the robot motion gait and air path control. The robot has a total of eight different gaits during the climbing process, and three different stages include the start stage, the normal motion stage and the end stage.

[0039] The present invention is described below in conjunction with the accompanying drawings.

[0040] like Figure 1As shown, it is a schematic diagram of the overall structure of the six-legged negative pressure adsorption climbing robot. The overall structure of the six-legged negative pressure adsorption climbing robot includes: a motion module 1, a circuit module 2 and a negative pressure module 3. The circuit module 2 is mechanically interconnected with the motion module 1 through the stud 101 and fixed on the upper and lower sides of the main board 10; the negative pressure module 3 is mechanically interconnected with the circuit module 2 through the stud 101 and fixed on the upper side of the main control chip 22. The main structure of the motion module 1 includes the main board 10, the hind foot 11 and the front foot 12, which constitute the main mechanical structure of the robot, and the robot moves forward, backward, turns, climbs, etc. through the angle control of the servo 114 arranged on the hind foot 11 and the front foot 12. The main electronic components in the circuit module 2 include an image acquisition module 21, a main control chip 22, a power supply module 23 and a servo drive board 24, wherein the main control chip 22 and the power supply module 23 are fixed from top to bottom on the upper side of the main board 10 through the stud 101, and the servo drive board 24 is fixed on the lower side of 10. The power supply module 23 supplies power to the main control chip 22 and the steering gear drive board 24. The main control chip 22 is connected to the steering gear drive board 24. The steering gear drive board 24 is connected to a total of fourteen steering gears 114 distributed on the hind foot 11 and the front foot 12, thereby realizing the driving and control of the steering gear. The main structure of the negative pressure module 3 includes a fixing plate 31, a micro pump 32 and a solenoid valve 33. Two micro pumps 32 and two solenoid valves 33 are fixed to the fixing plate 31 by screws, and are connected to each other through air pipes, and are connected to the suction cups on the hind foot 11 and the front foot 12 to realize controllable adsorption and detachment.

[0041] like Figure 2 As shown, it is a schematic diagram of the three-dimensional structure of the motion module of the six-legged negative pressure adsorption climbing robot. The robot motion module 1 is the main functional module for the robot to move and climb to the designated position when performing the combustion chamber crack detection task. The main components include a main board 10, a rear foot 11 and a front foot 12. The main board 10 is the main load-bearing structure of the robot, on which four rear feet 11 and two front feet 12 are fixed with screws. There are three grooves on both sides of the main board 10 for fixing the rear feet 11 and the front feet 12. The central part of the main board 10 is designed with a hollow structure to reduce the mass, and the screw holes are arranged to mechanically interconnect with the circuit module 2 and the negative pressure module 3 through the studs 101. The rear feet 11 and the front feet 12 are symmetrically distributed on both sides of the main board 10. A pair of front feet 12 are located in the oblique front groove of the side of the robot main board 10, one on each side, and there are two pairs of rear feet 11, one pair is fixed to the middle groove of the side of the robot main board 10, and the other pair is fixed to the oblique rear groove of the side of the robot main board 10. There are two servos 114 on the hind foot 11 to respectively realize the forward and backward swinging and up and down swinging of the robot's legs. There are three servos 114 on the front foot 12 to respectively realize the forward and backward swinging, up and down swinging of the robot's legs and the up and down swinging of the foot end. Through the control of the three servos, the foot end can move in a semicircular trajectory.

[0042] like Figure 3 As shown, it is a three-dimensional structural schematic diagram of the front and rear feet of the six-legged negative pressure adsorption climbing robot. The main components of the robot rear foot 11 include a foot-end suction cup 110, a leg 111, a steering gear frame 112, a steering gear rear cover 113 and a steering gear 114. The foot-end suction cup 110 is provided with two air holes connected to the trachea as an air suction port and an air discharge port. When the air suction port is connected to the micro pump 32, negative pressure is generated in the suction cup to realize the negative pressure adhesion function. When the air discharge port is connected to the atmosphere, the atmospheric pressure is restored in the suction cup to realize the separation of the suction cup from the moving surface. The suction cup 110 is mechanically interconnected with the leg 111, and a groove and a threaded hole are provided on the leg 111 for fixing the steering gear 114, and the leg 111 is hollowed out by topological optimization. The output end of the steering gear 114 is connected to the rocker arm 115, and the four threaded holes on the rocker arm 114 are fixed to the outside of the steering gear frame 112 by screws. The back of the output end of the servo is connected to the servo rear cover 113 by screws, and there are two threaded holes on the servo rear cover 113 corresponding to the threaded holes on the servo 114. Two wings are provided with two threaded holes on both sides of the output end of the servo 114 for fixing the servo, which can be fixed to the main board 10 or the leg 111 by screws. There are two servos 114 in the hind foot 11, and the two are connected by a servo frame 112, one connected to the main board 10, and the other connected to the leg 111. The structure of the front foot 12 is similar to that of the rear foot 11. On the basis of the rear foot 11, a set of servos 114, servo rear cover 113, and servo frame 112 are added to meet the more precise motion control of the front foot, which will not be repeated here.

[0043] like Figure 4As shown, it is a three-dimensional structural schematic diagram of the circuit module and negative pressure module of the six-legged negative pressure adsorption climbing robot. The main components of the circuit module 2 of the robot include an image acquisition module 21, a main control chip 22, a power supply module 23, and a steering gear drive board 24 located on the upper side of the main board 10. The power supply module 23 is fixed to the main board 10 by four studs 101, and is connected to the pins on the main control chip 22 to provide power for the main control chip 22. The main control chip 22 is fixed to the upper side of the main control chip 22 by studs 101, and the main control chip 22 is used for robot motion code writing and steering gear control. The steering gear drive board 24 is arranged below the main board 10 in consideration of maximizing space utilization, and is connected to the main control chip 22. The main control chip 22 controls the PWM wave output of different ports, thereby realizing the control of the steering gear 114. The fourteen steering gears 114 located on the hind legs 11 and the front legs 12 are connected to the steering gear drive board 24, and the duty cycle and frequency of the PWM wave are changed to realize the steering gear control and the complex gait of the robot. The negative pressure module 3 includes a fixed plate 31, a micro pump 32 and a solenoid valve 33. Two micro pumps 32 and two solenoid valves are fixed on the fixed plate 31, and the fixed plate 31 is fixed on the main control chip 22 through a stud 101. The negative pressure module 3 realizes the controllable adsorption and detachment of the foot-end suction cup by controlling the on-off of the micro pump 32, the atmosphere and each foot-end suction cup 110. A micro pump 32 and a solenoid valve 33 form a group, which are connected to the two hind legs 11 and one front leg 10 of the robot through the air path design, and the controllable adsorption of the suction cup 110 is realized through circuit control. The on-off condition of the air path of the other group is opposite to that of the robot, so as to cooperate with the robot motion module 1 to realize the climbing motion of the robot under the three-legged gait.

[0044] like Figure 5 As shown, it is a schematic diagram of the air circuit design of the six-legged negative pressure adsorption climbing robot. The working principle of the micro pump 32 is that it is powered on to draw a vacuum, connected to the foot end suction cup, to generate a negative pressure environment, and the vacuum is stopped when the power is off, and the suction cup maintains a negative pressure state. The working principle of the solenoid valve 33 is that it is normally closed when the power is off, and the air circuit is opened after the power is turned on, the suction cup is connected to the atmospheric pressure, and the suction cup no longer generates suction. Among them, feet 1 and feet 4 correspond to the front feet 12 of the robot motion module 1, and feet 2, 3, 5, and 6 correspond to the rear feet 11. Figure 2As shown in the top view in FIG, the left front foot 12 of the robot is marked as foot 1, and the two rear feet 11 on the left are marked as feet 2 and 3 from front to back, and the right side adopts a similar marking method from front to back. Among them, feet 1, 3, and 5 are a group, and feet 2, 4, and 6 are another group, corresponding to the three-legged gait of the robot. Feet 1, 3, and 5 are connected to the same air pipe through a cross four-way joint, and the other end of the air pipe is connected to a three-way joint, which is respectively connected to a micro pump 32 and a solenoid valve 33. When the micro pump 32 is powered on and the solenoid valve 33 is powered off, the micro pump 32 extracts air from the air extraction hole of the foot end suction cup 110, and the suction cups of feet 1, 3, and 5 are negatively pressurized to achieve adsorption. When the micro pump 32 is powered off and the solenoid valve 33 is powered on, the solenoid valve 32 connects the atmosphere and the suction cup 110 through the vent hole, and the atmospheric pressure is restored in the suction cups of feet 1, 3, and 5 to achieve separation. The feet 2, 4, and 6 of another group use the same control air circuit, but the power-on and power-off conditions of the corresponding micro pump 32 and electromagnetic valve 33 are opposite to those of the previous group.

[0045] like Figure 6 As shown, it is a schematic diagram of the gait design of the six-legged negative pressure adsorption climbing robot. The robot has a total of eight different gaits during the climbing process, and the three different stages include the startup stage, the normal movement stage and the end stage. The startup stage includes gait 1 and gait 2, the normal movement stage cycles gait 3 to gait 8, and the end gait includes gait 2 and gait 1. Gait 1 is the initial state, the robot's hind feet 11 and front feet 12 are perpendicular to the robot main board 10, and the suction cups 110 of the six feet are in a negative pressure state and in contact with the moving surface. In gait 2, the first group of feet including the suction cups of feet 1, 3, and 5 are connected to the atmosphere and are in the positive pressure release stage, and the state of the second group of feet remains unchanged. In gait 3, the first group of feet is lifted and swung forward, and the other group of feet swings backward. In gait 4, the first group of feet is put down, and the other group of feet remains unchanged. In gait 5, the first group of feet becomes a negative pressure state, and the second group of feet is connected to the atmosphere. In gait 6, the first group of feet swings backward, and the second group of feet is lifted and swung forward. In gait 7, the first set of feet remains unchanged, and the second set of feet is lowered. In gait 8, the first set of feet is connected to the atmosphere, and the second set of feet becomes a negative pressure state. At this point, if the robot continues to move forward, it will start the cycle from gait 3. If it stops moving forward, it will enter the end stage, execute gait 2 and gait 1, and return to the initial state.

[0046] like Figure 7As shown in the figure, it is the gas circuit control timing diagram of the hexapod negative pressure adsorption climbing robot. The gas circuit control timing diagram is divided into the start-up phase, the normal movement phase and the end phase according to the gait situation. The normal movement phase is a cycle T from gait 3 to gait 8. Here, three cycles are taken as an example. When the robot is in gait 1, micropumps 1 and 2 are powered on, and solenoid valves 1 and 2 are powered off. When the robot is in gait 2 and 3, micropump 2 and solenoid valve 1 are powered on, and micropump 1 and solenoid valve 2 are powered off. When the robot is in gait 4, micropump 2 is powered on, and micropump 1, solenoid valve 1 and 2 are powered off. When the robot is in gait 5 and 6, micropump 1 and solenoid valve 2 are powered on, and micropump 2 and solenoid valve 1 are powered off. When the robot is in gait 7, micropump 1 is powered on, and micropump 2, solenoid valve 1 and 2 are powered off. When the robot is in gait 8, micropump 2 and solenoid valve 1 are powered on, and micropump 1 and solenoid valve 2 are powered off. It can be found from observation that the power-on and power-off time sequences of the gas circuit components are opposite in the startup and end stages, and the power-on and power-off conditions of micro pump 1 and micro pump 2, and solenoid valve 1 and solenoid valve 2 are opposite in the normal motion stage.

[0047] Combination Figure 6 , 7 , the robot gait can be summarized as follows:

[0048] (1) Gait 1, the initial state of the robot, micro pumps 1 and 2 are powered on, and solenoid valves 1 and 2 are powered off. The robot's hind feet and front feet are perpendicular to the robot main board, and the suction cups of the six feet are in a negative pressure state and in contact with the moving surface.

[0049] (2) Gait 2, micro pump 2 and solenoid valve 1 are powered on, micro pump 1 and solenoid valve 2 are powered off. The first group of feet including feet 1, 3, and 5 suction cups are connected to the atmosphere and are in the positive pressure release stage, and the second group of feet remain unchanged.

[0050] (3) Gait 3, micro pump 2 and solenoid valve 1 are powered on, micro pump 1 and solenoid valve 2 are powered off. The first set of feet are lifted and swung forward, and the other set of feet are swung backward.

[0051] (4) Gait 4, micro pump 2 is powered on, micro pump 1, solenoid valves 1 and 2 are powered off. The first set of feet is put down, and the other set of feet remains unchanged.

[0052] (5) Gait 5, micro pump 1 and solenoid valve 2 are powered on, micro pump 2 and solenoid valve 1 are powered off. The first group of feet becomes a negative pressure state, and the second group of feet is connected to the atmosphere.

[0053] (6) Gait 6, micro pump 1 and solenoid valve 2 are powered on, micro pump 2 and solenoid valve 1 are powered off. The first group of feet swings backward, and the second group of feet lifts up and swings forward.

[0054] (7) Gait 7, micro pump 1 is powered on, micro pump 2, solenoid valves 1 and 2 are powered off. The first group of feet remain unchanged, and the second group of feet are put down.

[0055] (8) Gait 8, micro pump 2 and solenoid valve 1 are powered on, micro pump 1 and solenoid valve 2 are powered off. The first group of feet are connected to the atmosphere, and the second group of feet are in a negative pressure state.

[0056] It should be noted that the constituent materials and structural dimensions of the above-mentioned structural parts are only exemplary descriptions and do not constitute limitations of the disclosed examples. In some other examples, the constituent materials and structural dimension parameters may be other options.

Claims

1. A six-legged air pressure adsorption wall-climbing robot for combustion chamber detection, the climbing robot comprising: Motion module, circuit module and negative pressure module, The motion module comprises: a main board, four hind feet, and two front feet, the structures of the four hind feet are completely identical, and the structures of the two front feet are also completely identical; the hind feet and the front feet are symmetrically arranged on the main board, one front foot is on the left and one rear foot is on the right and two rear feet are on the left and two rear feet are ... left and two rear feet are on the left and two rear feet are on the left and two rear feet are on the left and two rear feet are on the left and two rear feet are on the left and two rear feet are on the The main board is a sheet structure. The hind foot includes: a first hind foot servo, a first hind foot servo rocker arm, a hind foot servo frame, a second hind foot servo, a hind foot leg, and a hind foot foot end suction cup. The body of the first hind foot servo is fixed on the main board to realize the front and rear freedom of the climbing robot. The output shaft of the first hind foot servo is connected to the first hind foot servo rocker arm, the rocker arm is connected to one end of the hind foot servo frame, and the other end of the servo frame is connected to the output shaft of the second hind foot servo. The second hind foot servo realizes the up and down freedom of the climbing robot. The hind foot leg is fixed on the body of the second hind foot servo, and a hind foot foot end suction cup is arranged at the end of the hind foot leg. The front foot comprises: a first front foot servo, a first front foot servo rocker arm, a first front foot frame, a second front foot servo rocker arm, a second front foot servo, a second front foot frame, a third front foot servo rocker arm, a third front foot servo, a front foot leg, and a front foot foot end suction cup. The body of the first front foot servo is fixed on the main board. The output shaft of the first front foot servo is fixedly connected to the first front foot servo rocker arm. The first front foot servo rocker arm is connected to one end of the first front foot frame. The other end of the first front foot frame is connected to the second front foot servo rocker arm. The second The front foot servo rocker arm is connected to the output shaft of the second front foot servo, the body of the second front foot servo is connected to one end of the second front foot frame, the other end of the second front foot frame is connected to the third front foot servo rocker arm, the third front foot servo rocker arm is connected to the output shaft of the third front foot servo, the body of the third front foot servo is connected to the front foot leg, and the end of the front foot leg is provided with a front foot end suction cup; the first front foot servo realizes the front and rear degrees of freedom of the climbing robot, and the second and third front foot servos realize the up and down degrees of freedom of the climbing robot; The circuit module is arranged on the main board of the motion module, and the circuit module includes: an image acquisition module, a main control chip, a power supply module, and a steering gear drive board. The power supply module supplies power to the climbing robot, and the main control chip controls the image acquisition module, the power supply module, and the steering gear drive board, and the steering gear drive board controls each steering gear; The negative pressure module includes: a fixed plate, two micro pumps, two solenoid valves and a gas pipeline; the fixed plate is placed on the main board of the motion module, or is arranged on the circuit module, the micro pump and the solenoid valve are both arranged on the fixed plate, one micro pump and one solenoid valve form a group, which are connected to the foot-end suction cups at the ends of two hind feet and the foot-end suction cup at the end of one front foot of the robot through the designed gas pipeline; the micro pump and the solenoid valve are controlled by the main control chip; the foot-end suction cup includes two gas ports: an air suction port and an air discharge port, the air suction port is connected to the micro pump through the gas pipeline, the air discharge port is connected to the atmosphere through the gas pipeline, and the solenoid valve is arranged in the pipeline connected to the air discharge port.

2. A six-legged pneumatic adsorption wall-climbing robot for combustion chamber detection as claimed in claim 1, characterized in that: The main board of the motion module is a hollow structure, and the front foot is controlled by three steering gears therein to achieve semicircular trajectory movement of the front foot end.

3. A six-legged air pressure adsorption wall-climbing robot for combustion chamber detection as claimed in claim 1, characterized in that: All rocker arms and all servo frames in the motion module have the same structure; the rocker arm is a sheet structure, one end of the rocker arm is fixedly connected to the servo output shaft, and a connecting hole connected to the servo frame is opened on the rocker arm; the servo frame is a double U-shaped structure, the openings of the two U-shaped structures are facing back to back, the midpoints of the bottom are connected to form a cross structure; the two arms of each U-shaped structure are of different lengths, the longer one is directly hinged to the servo body, and the shorter one is provided with a connecting hole connected to the rocker arm.

4. A six-legged pneumatic adsorption wall-climbing robot for combustion chamber detection as claimed in claim 1, characterized in that: The bottoms of the two U-shaped structures of the servo frame form a four-pointed star sheet structure, and arms of the U-shaped structure extend from each corner end of the four-pointed star, and the center position of the four-pointed star structure is hollowed out.

5. A six-legged air pressure adsorption wall-climbing robot for combustion chamber detection as claimed in claim 1, characterized in that: All the leg structures in the motion module are the same, and the legs include two sections, the first section is connected to the servo, and the end of the second section is connected to the foot-end suction cup; the first section is a U-shaped structure, the opening of the U-shaped structure just fits the servo body, connecting holes are provided on the two arms of the U-shaped structure, and a connecting plate with connecting holes is correspondingly provided on the servo body; one end of the second end is connected to the outer side of one of the arms of the first section of the U-shaped structure, and the other end is the end of the leg connected to the foot-end suction cup.

6. A six-legged pneumatic adsorption wall-climbing robot for combustion chamber detection as claimed in claim 1, characterized in that: The feet of the robot are coded as 1, 2, 3, 4, 5, 6, where 1 and 4 are front feet and 2, 3, 5, 6 are rear feet. The micro pumps and solenoid valves are divided into two groups, one of which controls 1, 3, 5, and the other controls 2, 4, 6.

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