Dry adhesion foot type climbing robot based on flexible foot ends and climbing method of dry adhesion foot type climbing robot

Abstract

The invention provides a dry adhesion foot type climbing robot based on flexible foot ends and a climbing method thereof.The dry adhesion foot type climbing robot comprises a trunk part and four climbing foot assemblies symmetrically installed on the side wall of the trunk part, and each climbing foot assembly is composed of a plurality of connecting rods, a servo motor, a linear motor, a hard plastic thin plate, a sponge pad, nanometer micro suction glue and a fixing block. The trunk part comprises an upper plate, a lower plate and a trunk servo motor, and the climbing method of the robot comprises the steps that the linear motors apply or remove pre-pressure through sponge pads, the legs of the robot complete adhesion and desorption movement through foot end tracks, and corresponding climbing actions are completed according to the mass center track of the robot and corresponding movement gaits. By means of the flexible foot ends and the dry adhesion technology, the robot can stably climb on vertical and inverted wall surfaces, the robot is suitable for operation requirements in various complex environments, and an efficient and reliable solution is provided for the field of high-altitude operation and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of robot climbing, and in particular to a dry-adhesion-foot climbing robot based on a flexible foot end and a climbing method thereof. Background Art

[0002] Climbing robots perform difficult and dangerous tasks on vertical walls or inverted surfaces. Their importance and application value are becoming increasingly prominent, and they have shown broad application prospects in many industries. In particular, foot-type climbing robots based on dry adhesion of nano-micro-adhesive have many significant advantages. This type of robot is noiseless during operation, does not produce annoying noise interference, and brings tranquility to the working environment. Moreover, after adhesion, it can stay attached to the adhesion surface without inputting any energy, which greatly improves energy utilization efficiency and is currently the most efficient adhesion method.

[0003] However, the current dry-adhesion foot-type climbing robots face some serious problems in the climbing process. Among them, the problem of high adhesion and low desorption force cannot be satisfied at the same time, which seriously restricts the performance of the climbing robot. As a result, the foot-type climbing robot system not only cannot fully exert all the properties of the adhesive material, but also has a certain impact on the stability of the body. In addition, the dry-adhesion foot-type climbing robot cannot achieve lateral climbing and turning operations, which greatly limits the application scenarios of the climbing robot. In actual work, in many cases, the robot needs to be able to move laterally and turn flexibly to adapt to the complex and changing working environment. Summary of the invention

[0004] In view of the technical problem that the high adhesion and low desorption forces of the above-mentioned dry adhesion foot climbing robot cannot be satisfied at the same time, the present invention provides a dry adhesion foot climbing robot based on a flexible foot end and a climbing method thereof. The present invention designs a climbing method with high adhesion and low desorption forces that can provide a reliable and effective adhesion method without additional energy input, expands the flexibility of the climbing robot, and improves the applicability of the climbing robot.

[0005] The technical means adopted by the present invention are as follows:

[0006] A flexible foot-end-based dry-adhesion foot climbing robot comprises: a trunk portion, N climbing foot assemblies symmetrically mounted on the side walls of the trunk portion;

[0007] The climbing foot assembly includes a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a first servo motor for the foot, a second servo motor for the foot, a third servo motor for the foot, a linear motor, a hard plastic sheet, a sponge pad, nano micro-adhesive, and a fixing block;

[0008] The first connecting rod is fixedly connected to the servo motor of the side wall of the trunk, the first servo motor of the foot is fixedly connected to the back side of the first connecting rod, the second connecting rod is fixedly connected to the first servo motor of the foot, the second servo motor is fixedly connected to the back side of the second connecting rod, the third connecting rod is fixedly connected to the second servo motor of the foot, the third servo motor is fixedly connected to the back side of the third connecting rod, the fourth connecting rod is fixedly connected to the third motor of the foot, and the linear motor is fixedly connected to the fourth connecting rod;

[0009] The hard plastic sheet is fixedly connected to the linear motor, the sponge pad is fixedly connected to the hard plastic sheet by glue, the fixed block is fixedly connected to the bottom of the fourth connecting rod, one end of the nano micro-absorption glue is fixedly connected to the fixed block, the surface is covered on the sponge pad, and the other end is not restricted.

[0010] Furthermore, the trunk part includes an upper plate, a lower plate, and a trunk servo motor, the upper plate is fixedly connected to the lower plate, the trunk servo motor is installed on four tips of the trunk part, and the output end of the trunk servo motor is connected to the first connecting rod.

[0011] Furthermore, N=4.

[0012] A climbing method of a dry-adhesion foot-type climbing robot based on a flexible foot end comprises the following steps:

[0013] Step 1: The climbing foot component returns to its initial state and adheres to the vertical wall. The linear motor presses down to stabilize the adhesion and then returns to the initial position. The foot servo motor is in sleep mode.

[0014] Step 2: The left front climbing foot and the right rear climbing foot are debonded. The trunk servo motor and the two servo motors of the foot rotate to make the foot end reach the specified posture and then the nano-micro-adhesive is debonded;

[0015] Step 3: The left front climbing foot and the right rear climbing foot are attached, the trunk servo motor rotates to make the nano-micro-adhesive contact the wall, and the linear motor presses down to stabilize the end of the rear foot;

[0016] Step 4: The right front climbing foot and the left rear climbing foot are debonded. The trunk servo motor and the two servo motors of the foot rotate to make the foot end reach the specified posture and then the nano-micro-adhesive is debonded;

[0017] Step 5: The right front climbing foot and the left rear climbing foot adhere to each other, the trunk servo motor rotates to make the nano-micro-adhesive contact the wall, and the linear motor presses down the rear foot end to adhere and stabilize. At the same time, the left front foot and the right rear foot complete the same action, and the climbing foot servo motor rotates to move the trunk part upward;

[0018] Step 6: Repeat the above steps to complete the climbing movement.

[0019] Due to the adoption of the above technical solution, compared with the prior art, the present invention has the following advantages:

[0020] 1. The present invention provides a dry-adhesion foot-type climbing robot based on a flexible foot end and a climbing method thereof. The climbing robot can perform difficult and dangerous tasks on vertical walls or inverted surfaces, replacing humans in dangerous operations, which can greatly reduce the risk of casualties.

[0021] 2. The present invention provides a dry-adhesion foot-type climbing robot based on a flexible foot end and a climbing method thereof. The dry-adhesion foot-type climbing robot based on nano-micro-adhesive can adhere to the adhesion surface without inputting any energy after adhesion. Compared with other climbing methods that require continuous energy input, it greatly improves the energy utilization efficiency, which not only reduces the operating cost, but also enables the robot to work for a longer time under limited energy conditions, thereby expanding its application range.

[0022] 3. The present invention provides a dry-adhesion foot-type climbing robot based on a flexible foot end and a climbing method thereof, which can allow the climbing robot to give full play to all the properties of the adhesive material. The high adhesion force ensures that the robot can be stably attached to various complex surfaces, while the low desorption force enables the robot to be easily detached when it needs to move, thereby improving the flexibility and work efficiency of the robot.

[0023] 4. The present invention provides a dry-adhesion foot-based climbing robot and a climbing method thereof based on a flexible foot end, which ensures that the climbing robot body can realize a variety of movement modes such as straight line, lateral, and turning, so that the robot can move flexibly on vertical and inverted surfaces, greatly expanding the application scenarios of the climbing robot and is no longer limited to climbing operations in a single direction.

[0024] Based on the above reasons, the present invention can be promoted in the field of robot climbing technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0026] Figure 1 It is an oblique view of a dry-adhesion foot-type climbing robot based on a flexible foot end according to the present invention;

[0027] Figure 2 This is a diagram of the de-adhesion state of the left front foot and the right rear foot of a dry-adhesion foot climbing robot based on a flexible foot end according to the present invention;

[0028] Figure 3 It is a diagram of the adhesion state of the left front foot and the right rear foot of a dry adhesion foot climbing robot based on a flexible foot end according to the present invention;

[0029] Figure 4 It is a diagram of the de-adhesion state of the right front foot and the left rear foot of a dry-adhesion foot climbing robot based on a flexible foot end according to the present invention;

[0030] Figure 5 This is a diagram of the overall upward movement state of a dry-adhesion foot-type climbing robot based on a flexible foot end according to the present invention;

[0031] Figure 6 It is a diagram of the adhesion state of the right front foot and the left rear foot of a dry adhesion foot climbing robot based on a flexible foot end according to the present invention;

[0032] Figure 7 It is an oblique view of the trunk portion of a dry-adhesion foot-type climbing robot based on a flexible foot end according to the present invention;

[0033] Figure 8 It is an oblique view of a climbing foot assembly of a dry-adhesion-foot-type climbing robot based on a flexible foot end according to the present invention;

[0034] Fig. 9 It is a front view of a climbing foot assembly of a dry-adhesion-foot-type climbing robot based on a flexible foot end described in the present invention.

[0035] In the figure: 1. torso servo motor; 2. upper plate; 3. lower plate; 4. first connecting rod; 5. first servo motor for foot; 6. second connecting rod; 7. second servo motor for foot; 8. third connecting rod; 9. third servo motor for foot; 10. fourth connecting rod; 11. linear motor; 12. hard plastic sheet; 13. double-sided tape; 14. sponge pad; 15. nano micro-adhesive; 16. fixing block. DETAILED DESCRIPTION

[0036] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0037] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0039] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, the numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0040] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0041] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0042] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0043] like Figures 1 to 9 As shown, the present invention provides a stem-adhesion foot-type climbing robot based on a flexible foot end, comprising: a trunk portion, N climbing foot assemblies symmetrically mounted on the side walls of the trunk portion;

[0044] The climbing foot assembly includes a first connecting rod 4, a first servo motor 5 for the foot, a second connecting rod 6, a second servo motor 7 for the foot, a third connecting rod 8, a third servo motor 9 for the foot, a fourth connecting rod 10, a linear motor 11, a hard plastic sheet 12, a double-sided adhesive tape 13, a sponge pad 14, a nano-micro-adhesive tape 15, and a fixing block 16. The first connecting rod 4 of the climbing foot is fixedly connected to the output shaft of the trunk servo motor 1 on the side wall of the trunk part, the first servo motor 5 for the foot is fixedly connected to the back of the first connecting rod 4, the second connecting rod 6 is fixedly connected to the output shaft of the first servo motor 5 for the foot, the second servo motor 7 for the foot is fixedly connected to the back of the second connecting rod 6, the third connecting rod 8 is fixedly connected to the output shaft of the second servo motor 7 for the foot, the third servo motor 9 for the foot is fixedly connected to the back of the third connecting rod 8, and the fourth connecting rod 10 is fixedly connected to the foot. The output shaft of the third servo motor 9, the linear motor 11 is built into the fourth connecting rod 10, the hard plastic sheet 12 is fixedly connected to the end of the linear motor 11, the double-sided tape 13 is attached to the surface of the hard plastic sheet 12, and the other side is attached to the sponge pad 14, one end of the nano micro-adhesive 15 is fixedly connected to the fixed block 16, and the fixed block 16 is fixedly connected to the bottom of the fourth connecting rod 10, and the sponge pad 14 makes the pressure more evenly distributed on the surface of the nano micro-adhesive 15, so that the adhesion area is larger and the adhesion effect is more stable.

[0045] Furthermore, the trunk part comprises a trunk servo motor 1, an upper plate 2, and a lower plate 3. The trunk servo motor 1 is mounted on a side wall of the trunk part, and the upper plate 2 and the lower plate 3 are fixedly connected.

[0046] The present invention also provides a wall climbing method of a dry-adhesion foot-type climbing robot based on a flexible foot end, which includes the following steps:

[0047] Step 1: The climbing foot component returns to the initial state. The initial state is as follows Figure 1 As shown, it is adhered to the vertical wall, the linear motor 11 is pressed down to stabilize the adhesion and then returns to the initial position, and the foot servo motor is in a dormant state;

[0048] Step 2: The left front and right rear climbing feet are detached. The left front trunk servo motor 1 and the right rear trunk servo motor 1 drive the first connecting rod 4 to rotate, so that the whole foot is slightly lifted up. The first servo motor 5 of the foot drives the second connecting rod 6 to rotate, and the second servo motor 7 of the foot drives the third connecting rod 8 to rotate. The foot end reaches Figure 2 In the state shown, the nano-micro-adhesion debonding of the left front and right rear climbing feet is completed;

[0049] Step 3: The left front and right rear climbing feet adhere, the left front trunk servo motor 1 and the right rear trunk servo motor 1 respectively drive their first connecting rods 4 to rotate, at this time the nano micro-adhesive contacts the wall, the linear motor 11 presses down a certain stroke and then returns to its original position, at this time the contact area between the nano micro-adhesive and the wall increases, the left front climbing foot and the right rear climbing foot adhere stably, and the result is as follows: Figure 3 In the state shown, the left front and right rear climbing feet are adhered;

[0050] Step 4: The right front and left rear climbing feet are detached. The right front trunk servo motor 1 and the left rear trunk servo motor 1 drive the first connecting rod 4 to slightly lift the entire foot. The first servo motor 5 of the foot drives the second connecting rod 6 to rotate. The second servo motor 7 of the foot drives the third connecting rod 8 to rotate. The foot end reaches Figure 4 In the state shown, the nano-micro-adhesion debonding of the right front and left rear climbing feet is completed;

[0051] Step 5: The right front and left rear climbing feet adhere, the right front trunk servo motor 1 and the left rear trunk servo motor 1 drive the first connecting rod 4 to rotate, at this time the nano micro-adhesive contacts the wall, the linear motor 11 presses down a certain stroke and then returns to its original position, at this time the nano micro-adhesive is in close contact with the wall, the foot end adheres stably, and the result is as follows: Figure 6 In the state shown, the adhesion of the right front climbing foot and the left rear climbing foot is completed;

[0052] Furthermore, during this process, the left front climbing foot and the right rear climbing foot simultaneously complete the same action as step five, the first servo motor of the climbing foot drives the second connecting rod 6 to rotate, the second servo motor drives the third connecting rod 8 to rotate, and the third servo motor drives the fourth connecting rod 10 to rotate, so that the trunk part moves upward as a whole, and the wall-climbing robot reaches the position shown in FIG. Figure 5 Status shown;

[0053] Step 6: Repeat the above steps to complete the climbing movement.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dry-adhesion foot climbing robot based on a flexible foot end, characterized in that: include: The trunk part and N symmetrical climbing foot components; The climbing foot assembly comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a first servo motor for the foot, a second servo motor for the foot, a third servo motor for the foot, a linear motor, a hard plastic sheet, a sponge pad, nano micro-adhesive, and a fixing block.

2. A dry-adhesion foot-type climbing robot based on a flexible foot end according to claim 1, characterized in that: The first connecting rod is fixedly connected to the servo motor of the side wall of the trunk, the first servo motor of the foot is fixedly connected to the back of the first connecting rod, the second connecting rod is fixedly connected to the first servo motor of the foot, the second servo motor is fixedly connected to the back of the second connecting rod, the third connecting rod is fixedly connected to the second servo motor of the foot, the third servo motor is fixedly connected to the back of the third connecting rod, the fourth connecting rod is fixedly connected to the third motor of the foot, and the linear motor is fixedly connected to the fourth connecting rod.

3. The dry-adhesion foot-type climbing robot based on a flexible foot end according to claim 1, characterized in that: The hard plastic sheet is fixedly connected to the linear motor, the sponge pad is fixedly connected to the hard plastic sheet by glue, the fixed block is fixedly connected to the bottom of the fourth connecting rod, one end of the nano micro-absorption glue is fixedly connected to the fixed block, the surface is covered on the sponge pad, and the other end is not restricted.

4. The dry-adhesion foot climbing robot based on a flexible foot end according to claim 1, characterized in that: The trunk part includes an upper plate, a lower plate, and a trunk servo motor. The upper plate is fixedly connected to the lower plate. The trunk servo motor is installed on four tips of the trunk part. The output end of the trunk servo motor is connected to the first connecting rod.

5. The dry-adhesion foot-type climbing robot based on a flexible foot end according to claim 1, characterized in that: N＝4。 6. The dry-adhesion foot-type climbing robot based on a flexible foot end according to claim 1, characterized in that: The climbing foot assembly is mounted on the side wall of the trunk portion.

7. A climbing method of a dry-adhesion foot-type climbing robot based on a flexible foot end, characterized in that: The following steps are involved: Step 1: The climbing foot component returns to its initial state and adheres to the vertical wall. The linear motor presses down to stabilize the adhesion and then returns to the initial position. The foot servo motor is in sleep mode. Step 2: The left front climbing foot and the right rear climbing foot are debonded. The trunk servo motor and the two servo motors of the foot rotate to make the foot end reach the specified posture and then the nano-micro-adhesive is debonded; Step 3: The left front climbing foot and the right rear climbing foot are attached, the trunk servo motor rotates to make the nano-micro-adhesive contact the wall, and the linear motor presses down to stabilize the end of the rear foot; Step 4: The right front climbing foot and the left rear climbing foot are debonded. The trunk servo motor and the two servo motors of the foot rotate to make the foot end reach the specified posture and then the nano-micro-adhesive is debonded; Step 5: The right front climbing foot and the left rear climbing foot adhere to each other, the trunk servo motor rotates to make the nano-micro-adhesive contact the wall, and the linear motor presses down the rear foot end to adhere and stabilize. At the same time, the left front foot and the right rear foot complete the same action, and the climbing foot servo motor rotates to move the trunk part upward; Step 6: Repeat the above steps to complete the climbing movement.

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