Overturning wall-climbing robot and cooperative movement method thereof

Abstract

The invention discloses a somersault wall-climbing robot and a cooperative movement method thereof, and relates to the technical field of robots. The robot comprises at least two groups of robot single bodies, and the two groups of robot single bodies are detachably connected; the robot single body comprises a waist gear mechanism, a first leg mechanism and a second leg mechanism are fixedly installed at the two ends of the waist gear mechanism correspondingly, and the first leg mechanism and the second leg mechanism achieve clockwise or anticlockwise overturning operation with the waist gear mechanism as a rotating pair. The first leg mechanism comprises a first connecting piece fixedly installed at one end of the waist gear mechanism, and a telescopic piece is slidably connected into the first connecting piece. Through cooperative movement of the robot single bodies, the multiple wall-climbing robot single bodies can provide higher flexibility and reliability in a complex and dynamic environment, the workload of the single robot is reduced, the problem difficult to solve by the single robot is solved, and the robot has great significance in promoting technical progress and practical application in the field of robots.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a somersault wall-climbing robot and a cooperative motion method thereof. Background Art

[0002] A wall-climbing robot refers to an electromechanical system that can move with multiple degrees of freedom and complete tasks by attaching to the surface of an object. It is particularly suitable for performing special tasks and has a wide range of applications in many fields, such as cleaning building exterior walls, repairing aircraft shells, and inspecting large oil and gas tanks. In the application scenarios of wall-climbing robots, the wall structure is often complex. In order to expand the scope of use of the robot, the robot needs to have the ability to cross different walls. Existing wall-climbing robots often have complex structural designs in order to cross different walls. For this reason, we propose a flip wall-climbing robot and its collaborative motion method. Summary of the invention

[0003] The purpose of the present invention is to provide a somersault wall-climbing robot and a collaborative motion method thereof, so as to overcome the problems existing in the existing wall-climbing robots, such as poor wall transition ability, weak environmental adaptability, and complex structure. The designed robot unit has a simple structure and is easy to drive through the collaborative motion of two wall-climbing robot units, thereby improving the wall climbing efficiency and environmental adaptability.

[0004] According to a first aspect of the present invention, in order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: a somersault wall-climbing robot, comprising at least two groups of robot monomers, and the two groups of robot monomers are detachably connected;

[0005] The robot unit comprises a waist gear mechanism, at both ends of which a leg mechanism 1 and a leg mechanism 2 are respectively fixedly mounted, and the leg mechanism 1 and the leg mechanism 2 use the waist gear mechanism as a rotation pair to realize clockwise or counterclockwise flipping operation;

[0006] The leg mechanism 1 includes a connecting member 1 fixedly mounted on one end of the waist gear mechanism, a telescopic member is slidably connected inside the connecting member 1, and an adjustment component is installed between the connecting member 1 and the telescopic member, which is used to make the telescopic member and the connecting member 1 approach or move away from each other, and a rotating component is installed at the bottom end of the telescopic member, and an adsorption component 1 is installed at the bottom of the rotating component, and the rotating component can be used to make the leg mechanism 1 rotate around its own axis;

[0007] The leg mechanism 2 includes a connecting piece 2 fixedly mounted on the other end of the waist gear mechanism, and an adsorption component 2 is mounted on the bottom end of the connecting piece 2. The adsorption component 1 and the adsorption component 2 are used to realize the detachable connection between the robot units and the adsorption fixation when climbing a wall.

[0008] Further, the waist gear mechanism includes a first gear and a second gear, the first gear and the second gear are meshed with each other, one side of the first gear and the second gear is rotatably connected with a connecting rod 1, and both ends of the connecting rod 1 are rotatably connected to the center position of the first gear and the second gear respectively;

[0009] The second gear is fixedly connected to the connecting rod 2 on the side away from the connecting rod 1, and the connecting rod 2 is fixedly installed with the servo 2, and the output shaft of the servo 2 is fixed to the end of the connecting rod 1. When the servo 2 is started, it will drive the connecting rod 1 to rotate.

[0010] Furthermore, the first connecting member is fixedly installed on the edge of the first gear by bolts, and the second connecting member is fixedly installed on the edge of the second gear by bolts.

[0011] Further, the adjustment assembly includes a cavity opened inside the connecting member 1, the telescopic member is accommodated inside the cavity, a driving gear is rotatably connected to the inner wall of the cavity, a rack is meshedly connected to one side of the driving gear, and the rack is slidably connected to the inside of the cavity, and the bottom end of the rack is fixedly connected to the telescopic member;

[0012] A servo motor 1 is fixedly connected to the side wall of the connecting piece 1, and an output end of the servo motor 1 passes through the cavity and is fixedly connected to the driving gear.

[0013] Furthermore, the rotating assembly includes a servo three fixedly connected to the bottom of the telescopic member, the output end of the servo three is fixedly connected to the rotating member, a suction cup groove is provided on one side of the rotating member, and an electromagnetic valve one is fixedly connected to the other side of the rotating member.

[0014] Furthermore, the adsorption component 1 includes a foot shell 1 threadedly connected to the bottom end of the rotating member, and a suction cup 1 is coaxially installed inside the foot shell 1;

[0015] The second adsorption component comprises a second foot shell threadedly connected to the bottom end of the second connector, a second suction cup is coaxially mounted inside the second foot shell, and a second solenoid valve is fixedly connected to the outer wall of the second connector;

[0016] The suction cup 1 and the suction cup 2 are both provided with an air inlet hole and an air outlet hole. When the solenoid valve 1 is powered on, the air inlet hole and the air outlet hole of the suction cup 1 are connected, the inner cavity of the suction cup 1 is connected to the atmosphere, and the fixing of the suction cup 1 fails; when the solenoid valve 2 is powered on, the air inlet hole and the air outlet hole of the suction cup 2 are connected, the inner cavity of the suction cup 2 is connected to the atmosphere, and the fixing of the suction cup 2 fails;

[0017] A vacuum pump is fixedly connected to the side wall of the connecting rod 1, and the vacuum pump is connected to the suction cup 1 and the suction cup 2 through a conduit.

[0018] Furthermore, the suction cups 2 of one group of robot monomers are adsorbed and fixed in the suction cup grooves of another group of robot monomers to achieve the connection between the two groups of robot monomers.

[0019] According to a second aspect of the present invention, the present invention provides a method for a ground-based somersault forward motion of a wall-climbing robot, using a set of the above-mentioned robot monomers, and the specific steps are as follows:

[0020] (81) In the initial state, the robot unit is adsorbed on the upper wall and remains stationary. At this time, the solenoid valve 1 controlling the robot unit is energized, the air inlet and exhaust holes of the suction cup 1 are connected, the suction cup 1 fails to adsorb, and the leg mechanism 1 of the robot unit is unlocked;

[0021] (82) Start the output shaft of the servo on the robot unit to drive the connecting rod to rotate 180° clockwise. At this time, the first gear will revolve relative to the second gear. Because the first gear and the second gear are meshed with each other, the first gear will also rotate on its own, driving the leg mechanism below it to rotate clockwise, thereby realizing the somersault movement of the robot unit to one side.

[0022] According to a third aspect of the present invention, the present invention provides a method for cooperative external right-angle transition motion of a somersault wall-climbing robot, using the above-mentioned somersault wall-climbing robot, and the specific steps are as follows:

[0023] (91) In the initial state, both groups of robot units are adsorbed on the outer right-angle upper wall and remain stationary. At this time, the solenoid valve 1 of the robot unit 1 is energized, so that the air inlet and exhaust holes of the suction cup 1 are connected, and the inner cavity of the suction cup 1 is connected to the atmosphere. The suction of the suction cup 1 fails to be adsorbed, so that the leg mechanism 1 of the robot unit 1 is unlocked. At this time, the servo 2 of the robot unit 1 is started to drive the connecting rod 1 to rotate anti-clockwise by ɑ degrees, driving the leg mechanism 1 of the robot unit 1 to lift up. At the same time, the solenoid valve 1 of the robot unit 2 is energized, and the suction of the robot unit 2 fails to be adsorbed, which causes the leg mechanism 1 of the robot unit 2 to be unlocked. The leg mechanism 1 is unlocked, and then the servo 2 of the robot unit 2 is started, driving the connecting rod 1 of the robot unit 2 to rotate clockwise by β degrees, so that the leg mechanism 1 of the robot unit 2 is lifted upward. At this time, the bottom surface of the suction cup 1 at the foot end of the leg mechanism 1 of the robot unit 1 is concentrically overlapped with the suction cup groove on the rotating part of the leg mechanism 1 of the robot unit 2. At this time, the vacuum pump is started to evacuate air, and the leg mechanism 1 of the robot unit 1 is powered off, so that the suction cup 1 of the robot unit 1 is pressed and adsorbed on the leg mechanism 1 of the robot unit 2, completing the combination of the two sets of robot units;

[0024] (92) Start the servo 2 of robot unit 1 to drive the connecting rod 1 of robot unit 1 to rotate 90-α degrees clockwise, so that the central axis of the leg mechanism 1 of robot unit 1 is collinear with the central axis of its own leg mechanism 2. At this time, start the servo 2 of robot unit 2 to drive the connecting rod 1 of robot unit 2 to rotate 90-β degrees clockwise, so that the central axis of the leg mechanism 1 of robot unit 2 is collinear with the central axis of its own leg mechanism 2. At this time, robot unit 1 is driven to the outside of the wall;

[0025] (93) Start the servo 2 of the robot unit 2 to drive the connecting rod 1 of the robot unit 2 to rotate 45 degrees clockwise, so that the central axis of the leg mechanism 1 of the robot unit 2 is parallel to the outer right-angle upper wall surface, control the servo 1 of the robot unit 2 to drive the driving gear to rotate clockwise, and the rack drives the telescopic part of the robot unit 2 and the rotating component and the adsorption component 1 below it to move up along the leg axis direction;

[0026] (94) Control the servo 1 of the robot unit 1 to drive the driving gear to rotate clockwise, and the rack drives the telescopic part and the rotating component and the adsorption component 1 below to move downward along the leg axis direction, and the leg mechanism 1 of the robot unit 1 is extended, and then the servo 2 of the robot unit 1 is controlled to drive the connecting rod of the robot unit 1 to rotate 45 degrees clockwise, so that the central axis of the leg mechanism 2 of the robot unit 1 is perpendicular to the outer right-angle side wall surface, and the servo 1 of the robot unit 2 drives the driving gear to rotate, thereby adjusting the distance between the suction cup 2 of the leg mechanism 2 of the robot unit 2 and the wall surface by adjusting the elongation and shortening of the rack until the suction cup 2 coincides with the wall surface, at this time, the solenoid valve 2 of the robot unit 1 is controlled to be powered off, and the vacuum pump extracts the air in the suction cup 2, and the suction cup 2 of the leg mechanism 2 of the robot unit 2 is pressed and adsorbed on the outer right-angle side wall surface;

[0027] (95) Control the solenoid valve 2 of the robot unit 2 to be energized, the suction cup 2 of the robot unit 2 fails to adsorb, and the leg mechanism 2 of the robot unit 2 is unlocked. At this time, the servo 2 of the robot unit 2 is started to drive the connecting rod 1 of the robot unit 2 to rotate clockwise, so that the central axis of the leg mechanism 1 of the robot unit 2 is in line with the central axis of its own leg mechanism 2. At this time, the servo 2 of the robot unit 1 is started to drive the connecting rod 1 of the robot unit 1 to rotate 90 degrees clockwise, so that the central axis of the leg mechanism 1 of the robot unit 1 is parallel to the outer right-angle side wall surface;

[0028] (96) Control the servo 1 of the robot unit 1 to drive the driving gear to rotate counterclockwise, so that the rack of the robot unit 1 drives the telescopic part and the rotating component and the adsorption component 1 below to move up along the leg axis, and the leg mechanism 1 of the robot unit 1 is shortened. At this time, control the servo 1 of the robot unit 2 to drive the driving gear to rotate counterclockwise, and the rack of the robot unit 2 drives the telescopic part and the rotating component and the adsorption component 1 below to move left along the leg axis, and the leg mechanism 1 of the robot unit 2 is shortened;

[0029] (97) Start the servo 2 of the robot unit 1 to drive the connecting rod 1 of the robot unit 1 to rotate clockwise, and at the same time start the servo 2 of the robot unit 2 to drive the connecting rod 1 of the robot unit 2 to rotate clockwise, so that the suction cup 2 of the leg mechanism 2 of the robot unit 2 coincides with the outer right-angle side wall surface, at this time, the solenoid valve 2 of the robot unit 2 is powered off, and the vacuum pump extracts the air in the suction cup 2, and the suction cup 2 is pressed and adsorbed on the outer right-angle side wall surface;

[0030] (98) The solenoid valve 1 of the control robot unit 1 is energized, the air inlet and the exhaust hole are connected, the inner cavity of the suction cup 1 of the robot unit 1 is connected to the atmosphere, the suction cup 1 is no longer adsorbed in the suction cup groove of the robot unit 2, and the robot units are disconnected. At this time, the servo 2 of the robot unit 1 is started to drive the connecting rod 1 of the robot unit 2 to rotate clockwise, so that the bottom surface of the suction cup 1 of the leg mechanism 1 of the robot unit 2 coincides with the side wall surface, and the solenoid valve 1 of the control robot unit 1 is de-energized, and the vacuum pump extracts the air in the suction cup 1. The suction cup 1 of the robot unit 1 is pressurized and adsorbed on the outer right-angle side wall surface, and the robot unit 1 completes the transition to the outer right-angle wall surface; at the same time, the servo 2 of the robot unit 2 is started to drive the connecting rod 1 of the robot unit 2 to rotate counterclockwise, so that the bottom surface of the suction cup 1 of the leg mechanism 1 of the robot unit 2 coincides with the side wall surface. At this time, the solenoid valve 1 of the control robot unit 2 is de-energized, and the vacuum pump extracts the air in the suction cup 1. The suction cup 1 is pressurized and adsorbed on the outer right-angle side wall surface, and the robot unit 2 completes the transition to the outer right-angle wall surface.

[0031] According to a fourth aspect of the present invention, the present invention provides a method for a somersault wall-climbing robot to cooperate with an upper and lower wall transition movement. Using the above-mentioned somersault wall-climbing robot, the specific steps are as follows:

[0032] (101) In the initial state, the two groups of robot units are adsorbed on the upper wall and remain stationary. At this time, the solenoid valve 1 controlling the robot unit 1 is energized, the suction cup 1 air inlet and exhaust holes of the robot unit 1 are connected, the inner cavity of the suction cup 1 is connected to the atmosphere, and the suction cup 1 adsorption fails, causing the leg mechanism 1 of the robot unit 1 to be unlocked. At this time, the servo 2 of the robot unit 1 is started, driving the connecting rod 1 to rotate counterclockwise by ɑ degrees, driving the leg mechanism 1 of the robot unit 1 to lift up. At the same time, the solenoid valve 1 of the robot unit 2 is energized, the suction cup 1 adsorption fails, and the machine The leg mechanism 1 of the human body 2 is unlocked, and the steering gear 2 of the robot body 2 is started to drive the connecting rod 1 to rotate clockwise by β degrees, so that the leg mechanism 1 of the robot body 2 is lifted upward, and the bottom surface of the suction cup 1 of the leg mechanism 1 of the robot body 1 is concentrically overlapped in the suction cup groove of the rotating part of the leg mechanism 1 of the robot body 2. At this time, the vacuum pump is started to evacuate air, and the leg mechanism 1 of the robot body 1 is powered off, so that the suction cup 1 of the robot body 1 is pressed and adsorbed on the leg mechanism 1 of the robot body 2, and the combination of the two sets of robot bodies is completed;

[0033] (102) starting the servo 2 of the robot unit 1 to drive the connecting rod 1 of the robot unit 1 to rotate 90-ɑ degrees clockwise, so that the central axis of the leg mechanism 1 of the robot unit 1 is in line with the central axis of the leg mechanism 2 of the robot unit 1. At this time, starting the servo 2 of the robot unit 2 to drive the connecting rod 1 of the robot unit 2 to rotate clockwise, so that the leg mechanism 1 of the robot unit 2 flips to the outside of the upper wall;

[0034] (103) Start the servo 1 of the robot unit 1 to drive the driving gear to rotate clockwise, so that the rack of the robot unit 1 drives the telescopic part and the rotating component and the adsorption component 1 below to move downward along the leg axis, and the leg mechanism 1 of the robot unit 1 is extended. At the same time, start the servo 1 of the robot unit 2 to drive the driving gear to rotate clockwise, so that the rack drives the telescopic part and the rotating component and the adsorption component 1 below to move downward along the leg axis, and the leg mechanism 1 of the robot unit 2 is extended;

[0035] (104) starting the servo 2 of the robot unit 1 to drive the connecting rod 1 of the robot unit 1 to rotate clockwise, and at the same time starting the servo 2 of the robot unit 2 to drive the connecting rod 1 of the robot unit 2 to rotate clockwise, so that the bottom surface of the suction cup 2 at the foot end of the leg mechanism 2 of the robot unit 1 overlaps with the lower wall surface, at this time, the solenoid valve 2 of the robot unit 1 is controlled to be de-energized, and the vacuum pump extracts the air in the suction cup 2, so that the suction cup 2 of the robot unit 1 is pressed and adsorbed on the lower wall surface;

[0036] (105) Control the solenoid valve 2 of the robot unit 2 to be energized, so that the suction cup 2 at the foot end of the leg mechanism 2 of the robot unit 2 fails to adsorb, and the leg mechanism 2 of the robot unit 2 is unlocked. At this time, the servo 2 of the robot unit 2 is started to drive the connecting rod 1 of the robot unit 2 to rotate clockwise, so that the central axis of the leg mechanism 1 of the robot unit 2 is in line with the central axis of the leg mechanism 2 of the robot unit 2. At the same time, the servo 2 of the robot unit 1 is started to drive the connecting rod 1 of the robot unit 1 to rotate clockwise, so that the central axis of the leg mechanism 1 of the robot unit 1 is parallel to the lower wall surface;

[0037] (106) Start the servo 1 of the robot unit 1 to drive the driving gear to rotate counterclockwise, and the rack drives the telescopic component and the rotating component and the adsorption component 1 below it to move horizontally to the left along the direction of the leg axis, and the leg mechanism 1 of the robot unit 1 is shortened. At the same time, start the servo 1 of the robot unit 2 to drive the driving gear to rotate counterclockwise, so that the rack drives the leg connecting component 1 and the part above it to move vertically downward along the direction of the leg axis, and the robot unit 2 moves downward as a whole. At this time, start the servo 2 of the robot unit 2 to drive the connecting rod 1 of the robot unit 2 to rotate clockwise, so that the bottom surface of the suction cup 2 of the leg mechanism 2 of the robot unit 2 is parallel to the lower wall surface;

[0038] (107) Start the servo 2 of the robot unit 1 to drive the connecting rod 1 of the robot unit 1 to rotate clockwise, and at the same time start the servo 2 of the robot unit 2 to drive the connecting rod 1 of the robot unit 2 to rotate counterclockwise, so that the bottom surface of the suction cup 2 of the leg mechanism 2 of the robot unit 2 overlaps with the lower wall surface, at this time, the solenoid valve 2 of the robot unit 2 is controlled to be de-energized, the vacuum pump extracts the air in the suction cup 2, and the suction cup 2 of the robot unit 2 is pressed and adsorbed on the lower wall surface;

[0039] (108) The solenoid valve 2 of the robot unit 1 is energized, the air inlet and exhaust holes of the suction cup 2 of the robot unit 1 are connected, the inner cavity of the suction cup 2 is connected to the atmosphere, the suction cup 2 is no longer adsorbed in the suction cup groove of the robot unit 2, and the robot unit is disconnected. At this time, the servo 2 of the robot unit 1 is started to drive the connecting rod 1 of the robot unit 1 to rotate clockwise, so that the bottom surface of the suction cup 1 at the foot end of the leg mechanism of the robot unit 2 coincides with the lower wall surface, and the robot unit 1 completes the transition between the upper and lower walls; at this time, the solenoid valve 1 of the robot unit 2 is de-energized, the vacuum pump extracts the air in the suction cup 1, and the suction cup 1 is adsorbed on the lower wall surface under pressure. At this time, the servo 2 of the robot unit 2 is started to drive the connecting rod 1 of the robot unit 2 to rotate counterclockwise, so that the bottom surface of the suction cup 1 at the foot end of the leg mechanism of the robot unit 2 coincides with the lower wall surface, and the robot unit 2 completes the transition between the upper and lower walls.

[0040] The present invention has at least the following beneficial effects:

[0041] 1. The present invention can overcome the problems of poor wall transition ability, weak environmental adaptability, complex structure and the like of existing wall-climbing robots, and the designed robot unit has a simple structure and is easy to drive through the collaborative movement of two wall-climbing robot units, thereby improving the wall climbing efficiency and environmental adaptability.

[0042] 2. Through the coordinated movement of robot units, the present invention enables multiple wall-climbing robot units to provide higher flexibility and reliability in complex and dynamic environments, reduce the workload of a single robot, and cope with problems that are difficult for a single robot to solve. This is of great significance for promoting technological progress and practical applications in the field of robotics.

[0043] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a three-dimensional schematic diagram of a robot unit from a first perspective in an embodiment of the present invention;

[0045] Figure 2 is a stereoscopic schematic diagram of a robot unit from a second viewing angle in an embodiment of the present invention;

[0046] Figure 3 It is a cross-sectional schematic diagram of a single leg mechanism 1 of a robot in an embodiment of the present invention;

[0047] Figure 4 It is a cross-sectional schematic diagram of a second robot leg mechanism in an embodiment of the present invention;

[0048] Figure 5 This is a schematic diagram of a robot unit performing a ground somersault forward motion in an embodiment of the present invention;

[0049] Figure 6 This is a schematic diagram of the right-angle transition motion of two groups of robot monomers in cooperation in an embodiment of the present invention;

[0050] Figure 7 Schematic diagram of the upper and lower wall transition motion of two groups of robot monomers in cooperation in an embodiment of the present invention;

[0051] Figure 8 Schematic diagram of two groups of robot monomers adsorbing and combining in an embodiment of the present invention;

[0052] Fig. 9 This is a schematic diagram of two groups of robot monomers cooperating to adsorb the lower wall surface in an embodiment of the present invention;

[0053] Fig.10 This is a schematic diagram of a robot unit adaptively changing the path direction in an embodiment of the present invention.

[0054] Reference numerals:

[0055] 1. Robot unit; 2. Waist gear mechanism; 21. First gear; 22. Second gear; 23. Connecting rod one; 24. Connecting rod two; 25. Servo two; 3. Leg mechanism one; 31. Connecting piece one; 32. Telescopic piece; 33. Adjustment assembly; 331. Cavity; 332. Driving gear; 333. Rack; 334. Servo one; 34. Rotating assembly; 341. Servo three; 342. Rotating piece; 343. Suction cup groove; 344. Solenoid valve one; 35. Adsorption assembly one; 351. Foot shell one; 352. Suction cup one; 4. Leg mechanism two; 41. Connecting piece two; 42. Adsorption assembly two; 421. Foot shell two; 422. Suction cup two; 423. Solenoid valve two; 5. Vacuum pump. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0057] Embodiment 1:

[0058] See also Figures 1 to 4 , the present invention provides a technical solution: a somersault wall-climbing robot, comprising at least two groups of robot monomers 1, and the two groups of robot monomers 1 are detachably connected;

[0059] The robot body 1 includes a waist gear mechanism 2, and the two ends of the waist gear mechanism 2 are respectively fixedly installed with a leg mechanism 1 3 and a leg mechanism 2 4, and the leg mechanism 1 3 and the leg mechanism 2 4 use the waist gear mechanism 2 as a rotation pair to realize clockwise or counterclockwise flipping operation;

[0060] The leg mechanism 3 includes a connecting member 31 fixedly mounted at one end of the waist gear mechanism 2, a telescopic member 32 is slidably connected inside the connecting member 31, and an adjusting component 33 is installed between the connecting member 31 and the telescopic member 32, which is used to make the telescopic member 32 and the connecting member 31 approach or move away from each other, and a rotating component 34 is installed at the bottom end of the telescopic member 32, and an adsorption component 35 is installed at the bottom of the rotating component 34, and the rotating component 34 can be used to make the leg mechanism 3 rotate around its own axis;

[0061] The leg mechanism 2 4 includes a connecting piece 2 41 fixedly mounted on the other end of the waist gear mechanism 2, and an adsorption component 2 42 is mounted on the bottom end of the connecting piece 41. The adsorption component 1 35 and the adsorption component 2 42 are used to realize the detachable connection between the robot unit 1 and the adsorption fixation when climbing the wall.

[0062] According to the technical solution of this embodiment, the waist gear mechanism 2 includes a first gear 21 and a second gear 22, which are meshed with each other, and one side of the first gear 21 and the second gear 22 is rotatably connected with a connecting rod 1 23, and both ends of the connecting rod 1 are rotatably connected to the center of the first gear 21 and the second gear 22 respectively;

[0063] The second gear 22 is fixedly connected to a connecting rod 24 on one side away from the connecting rod 1 23. A servo 25 is fixedly mounted on the connecting rod 24, and the output shaft of the servo 25 is fixed to the end of the connecting rod 1 23. When the servo 25 is started, it will drive the connecting rod 1 23 to rotate. At this time, the first gear 21 will revolve relative to the second gear 22. Because the first gear 21 and the second gear 22 are meshed with each other, the first gear 21 will also rotate at the same time, thereby driving the leg mechanism 1 3 to perform a flipping movement.

[0064] Furthermore, the connecting piece 31 is fixedly installed on the edge of the first gear 21 by bolts, and the connecting piece 41 is fixedly installed on the edge of the second gear 22 by bolts. The detachable connection using bolts can be convenient for later disassembly and storage when not in use to avoid taking up too much storage space.

[0065] According to the technical solution of this embodiment, the adjustment component 33 includes a cavity 331 opened inside the connecting member 31, the telescopic member 32 is accommodated inside the cavity 331, a driving gear 332 is rotatably connected to the inner wall of the cavity 331, a rack 333 is meshed and connected to one side of the driving gear 332, and the rack 333 is slidably connected to the inside of the cavity 331, and the bottom end of the rack 333 is fixedly connected to the telescopic member 32. When the rack 333 moves up and down, a guide groove (not shown in the figure) adapted to the rack 333 is opened on the inner wall of the connecting member 31, and the provided guide groove is used to facilitate the limiting and guiding of the rack 333, so as to prevent the rack 333 from deviating;

[0066] A servo 334 is fixedly connected to the side wall of the connecting member 31, and the output end of the servo 334 passes through the cavity 331 and is fixedly connected to the driving gear 332. The servo 334 has a self-locking property. When the rack 333 does not need to be telescopically moved, the engagement between the driving gear 332 and the rack 333 can be used to effectively lock it, thereby achieving stability during the operation of the leg mechanism 3.

[0067] According to the technical solution of this embodiment, the rotating component 34 includes a servo three 341 fixedly connected to the bottom of the telescopic member 32, the output end of the servo three 341 is fixedly connected to the rotating member 342, a suction cup groove 343 is provided on one side of the rotating member 342, and a solenoid valve 1 344 is fixedly connected to the other side of the rotating member 342. Starting the servo three 341 drives the rotating member 342 to move, which can drive the rotating member 342 and the adsorption component 1 35 to rotate around their own axis.

[0068] According to the technical solution of this embodiment, the adsorption component 35 includes a foot shell 351 threadedly connected to the bottom end of the rotating member 342, and a suction cup 352 is coaxially installed inside the foot shell 351;

[0069] The second adsorption assembly 42 includes a second foot shell 421 threadedly connected to the bottom end of the second connector 41, a second suction cup 422 is coaxially installed inside the second foot shell 421, and a second solenoid valve 423 is fixedly connected to the outer wall of the second connector 41;

[0070] Both the suction cup 1 352 and the suction cup 2 422 are provided with an air inlet hole and an air outlet hole. When the solenoid valve 1 344 is energized, the air inlet hole and the air outlet hole of the suction cup 1 352 are connected, the inner cavity of the suction cup 1 352 is connected to the atmosphere, and the fixing of the suction cup 1 352 fails. When the solenoid valve 2 423 is energized, the air inlet hole and the air outlet hole of the suction cup 2 422 are connected, the inner cavity of the suction cup 2 422 is connected to the atmosphere, and the fixing of the suction cup 2 422 fails.

[0071] A vacuum pump 5 is fixedly connected to the side wall of the connecting rod 23, and the vacuum pump 5 is connected to the suction cup 1 352 and the suction cup 2 422 through a conduit. When the suction cup 1 352 or the suction cup 2 422 is needed for adsorption and fixation, firstly, the corresponding solenoid valve 1 344 and the solenoid valve 2 423 are powered off, and then the vacuum pump 5 is started to evacuate the suction cup 1 352 or the suction cup 2 422 to form a negative pressure inside thereof, so that adsorption and fixation can be performed.

[0072] Embodiment 2:

[0073] like Figure 5 As shown, this embodiment provides a method for a ground-based somersault forward motion of a wall-climbing robot, using a set of the above-mentioned robot monomers 1, and the specific steps are as follows:

[0074] (81) In the initial state, the robot unit 1 is adsorbed on the upper wall and remains stationary. At this time, the solenoid valve 344 controlling the robot unit 1 is energized, the air inlet and exhaust holes of the suction cup 352 are connected, and the suction of the suction cup 352 fails, so that the leg mechanism 3 of the robot unit 1 is unlocked;

[0075] (82) Start the output shaft of the servo 25 on the robot unit 1, so that it drives the connecting rod 1 23 to rotate 180° clockwise. At this time, the first gear 21 will revolve relative to the second gear 22. Because the first gear 21 and the second gear 22 are meshed with each other, the first gear 21 will also rotate at the same time, driving the leg mechanism 1 3 below it to rotate clockwise, thereby realizing the somersault movement of the robot unit 1 to one side.

[0076] Embodiment three:

[0077] like Figure 8 The figure shows a schematic diagram of the adsorption and combination of two groups of robot monomers 1 in this embodiment. The radius of the first gear 21 and the second gear 22 are the same, and the modulus is the same. When the connecting rod 23 of the robot monomer 1 rotates α degrees, the second gear 22 rotates 2α degrees. Similarly, when the connecting rod 23 of the robot monomer 1 rotates β, the second gear 22 rotates 2β degrees. Since the legs of the robot monomer 1 are vertically adsorbed, it is easy to obtain 2α+2β=90° from the geometric relationship. Therefore, the condition for the adsorption and combination of the robot monomer 1 is that the sum of the rotation angles α and β of the two connecting rods 23 is 45°.

[0078] Embodiment 4:

[0079] Fig. 9 2 is a schematic diagram of the robot monomer 1 in this embodiment cooperating to adsorb the lower wall. At this time, the leg mechanism 24 of the robot monomer 1 is adsorbed on the upper wall, and the leg mechanism 24 of the robot monomer 1 is adsorbed on the lower wall. Assume that the angle through which the connecting rod 1 23 of the robot monomer 1 rotates is θ degrees, and the angle through which the connecting rod 1 23 of the robot monomer 1 rotates is γ degrees. From the geometric relationship, it is easy to obtain 2θ+2γ=90°. Therefore, the condition for the robot monomer 1 to cooperating to adsorb the lower wall is that the sum of the rotation angles θ and γ of the two connecting rods 1 23 is 45°.

[0080] Embodiment five:

[0081] like Figure 6 As shown, this embodiment provides a method for cooperative external right-angle transition motion of a somersault wall-climbing robot, using the above-mentioned somersault wall-climbing robot, and the specific steps are as follows:

[0082] (91) In the initial state, both groups of robot monomers 1 are adsorbed on the outer right-angle upper wall and remain stationary. At this time, the solenoid valve 344 controlling the robot monomer 1 is energized, so that the air inlet and exhaust holes of the suction cup 352 are connected, and the inner cavity of the suction cup 352 is connected to the atmosphere. The adsorption of the suction cup 352 fails, so that the leg mechanism 3 of the robot monomer 1 is unlocked. At this time, the servo 25 of the robot monomer 1 is started to drive the connecting rod 23 to rotate anti-clockwise by ɑ degrees, driving the leg mechanism 3 of the robot monomer 1 to lift up. At the same time, the solenoid valve 344 of the robot monomer 1 is energized, and the adsorption of the suction cup 352 of the robot monomer 1 fails, which causes the robot monomer 1 to be unlocked. The leg mechanism 3 is unlocked, and then the steering gear 25 of the robot unit 1 is started to drive the connecting rod 23 of the robot unit 1 to rotate clockwise by β degrees, so that the leg mechanism 3 of the robot unit 1 is lifted upward. At this time, the bottom surface of the suction cup 352 at the foot end of the leg mechanism 3 of the robot unit 1 is concentrically overlapped with the suction cup groove 343 on the rotating part 342 of the leg mechanism 3 of the robot unit 1. At this time, the vacuum pump 5 is started to evacuate air, and the leg mechanism 3 of the robot unit 1 is powered off, so that the suction cup 352 of the robot unit 1 is pressed and adsorbed on the leg mechanism 3 of the robot unit 1, and the combination of the two sets of robot units 1 is completed;

[0083] (92) Start the steering gear 25 of the robot unit 1 to drive the connecting rod 23 of the robot unit 1 to rotate 90-α degrees clockwise, so that the central axis of the leg mechanism 3 of the robot unit 1 is collinear with the central axis of its own leg mechanism 24. At this time, start the steering gear 25 of the robot unit 1 to drive the connecting rod 23 of the robot unit 1 to rotate 90-β degrees clockwise, so that the central axis of the leg mechanism 3 of the robot unit 1 is collinear with the central axis of its own leg mechanism 24. At this time, the robot unit 1 is driven to the outside of the wall;

[0084] (93) Start the steering gear 25 of the robot unit 12 to drive the connecting rod 23 of the robot unit 12 to rotate 45 degrees clockwise, so that the central axis of the leg mechanism 3 of the robot unit 12 is parallel to the outer right-angle upper wall surface, control the steering gear 334 of the robot unit 12 to drive the driving gear 332 to rotate clockwise, and the rack 333 drives the telescopic part 32 of the robot unit 12 and the rotating component 34 and the adsorption component 35 below it to move up along the leg axis direction;

[0085] (94) Control the steering gear 334 of the robot unit 1 to drive the driving gear 332 to rotate clockwise, and the rack 333 drives the telescopic member 32 and the rotating assembly 34 and the adsorption assembly 35 below to move downward along the leg axis direction, and the leg mechanism 3 of the robot unit 1 is extended. Then control the steering gear 225 of the robot unit 1 to drive the connecting rod of the robot unit 1 to rotate 45 degrees clockwise, so that the central axis of the leg mechanism 24 of the robot unit 1 is aligned with the outer right-angle side wall. The surface is vertical, and the driving gear 332 is driven to rotate by the steering gear 1 334 of the robot monomer 12, so as to adjust the distance between the suction cup 2 422 of the leg mechanism 2 4 of the robot monomer 12 and the wall surface by adjusting the elongation and shortening of the rack 333, until the suction cup 2 422 coincides with the wall surface, at this time, the solenoid valve 2 423 of the robot monomer 11 is controlled to be powered off, and the vacuum pump 5 extracts the air in the suction cup 2 422, and the suction cup 2 422 of the leg mechanism 2 4 of the robot monomer 12 is pressed and adsorbed on the outer right-angle side wall surface;

[0086] (95) Control the solenoid valve 2423 of the robot unit 12 to be energized, the suction cup 2422 of the robot unit 12 fails to adsorb, and the leg mechanism 24 of the robot unit 12 is unlocked. At this time, the steering gear 225 of the robot unit 12 is started to drive the connecting rod 123 of the robot unit 12 to rotate clockwise, so that the central axis of the leg mechanism 13 of the robot unit 12 is in line with the central axis of its own leg mechanism 24. At this time, the steering gear 225 of the robot unit 11 is started to drive the connecting rod 123 of the robot unit 11 to rotate 90 degrees clockwise, so that the central axis of the leg mechanism 13 of the robot unit 11 is parallel to the outer right-angle side wall surface;

[0087] (96) Control the servo 334 of the robot unit 1- to drive the driving gear 332 to rotate counterclockwise, so that the rack 333 of the robot unit 1- drives the telescopic member 32 and the rotating assembly 34 and the adsorption assembly 35 below it to move up along the leg axis direction, and the leg mechanism 3 of the robot unit 1- is shortened. At this time, control the servo 334 of the robot unit 1- to drive the driving gear 332 to rotate counterclockwise, and the rack 333 of the robot unit 1- drives the telescopic member 32 and the rotating assembly 34 and the adsorption assembly 35 below it to move left along the leg axis direction, and the leg mechanism 3 of the robot unit 1- is shortened;

[0088] (97) Start the steering gear 25 of the robot unit 1- to drive the connecting rod 1 23 of the robot unit 1- to rotate clockwise, and at the same time start the steering gear 25 of the robot unit 1- to drive the connecting rod 1 23 of the robot unit 1- to rotate clockwise, so that the suction cup 2 422 of the leg mechanism 2 4 of the robot unit 1- coincides with the outer right-angle side wall surface, at this time, the solenoid valve 2 423 of the robot unit 1- is powered off, and the vacuum pump 5 extracts the air in the suction cup 2 422, and the suction cup 2 422 is pressurized and adsorbed on the outer right-angle side wall surface;

[0089] (98) The solenoid valve 344 of the robot unit 1 is energized, the air inlet and the exhaust holes are connected, the inner cavity of the suction cup 352 of the robot unit 1 is connected to the atmosphere, the suction cup 352 is no longer adsorbed in the suction cup groove 343 of the robot unit 1, and the robot unit 1 is disconnected. At this time, the steering gear 25 of the robot unit 1 is started to drive the connecting rod 23 of the robot unit 1 to rotate clockwise, so that the bottom surface of the suction cup 352 of the leg mechanism 3 of the robot unit 1 coincides with the side wall surface, and the solenoid valve 344 of the robot unit 1 is de-energized, and the vacuum pump 5 draws out the suction cup. At the same time, the steering gear 25 of the robot monomer 1 is started to drive the connecting rod 23 of the robot monomer 1 to rotate counterclockwise, so that the bottom surface of the suction cup 352 of the leg mechanism 3 of the robot monomer 1 coincides with the side wall surface. At this time, the solenoid valve 344 of the robot monomer 1 is powered off, and the vacuum pump 5 extracts the air in the suction cup 352, and the suction cup 352 is pressed and adsorbed on the outer right-angle side wall surface, and the robot monomer 1 completes the outer right-angle wall transition.

[0090] Embodiment six:

[0091] like Figure 7 As shown, this embodiment provides a method for the collaborative upper and lower wall transition motion of a somersault wall-climbing robot. Using the above-mentioned somersault wall-climbing robot, the specific steps are as follows:

[0092] (101) In the initial state, the two groups of robot monomers 1 are adsorbed on the upper wall and remain stationary. At this time, the solenoid valve 344 controlling the robot monomer 1 is energized, the air inlet and exhaust holes of the suction cup 352 of the robot monomer 1 are connected, the inner cavity of the suction cup 352 is connected to the atmosphere, and the adsorption of the suction cup 352 fails, so that the leg mechanism 3 of the robot monomer 1 is unlocked. At this time, the steering gear 25 of the robot monomer 1 is started, driving the connecting rod 23 to rotate counterclockwise by ɑ degrees, driving the leg mechanism 3 of the robot monomer 1 to lift up, and at the same time, the solenoid valve 344 of the robot monomer 1 is energized, the adsorption of the suction cup 352 fails, and the robot The leg mechanism 1 of the robot 1 is unlocked, and the steering gear 25 of the robot 1 is started to drive the connecting rod 23 to rotate clockwise by β degrees, so that the leg mechanism 1 of the robot 1 is lifted upward, and the bottom surface of the suction cup 352 of the leg mechanism 3 of the robot 1 is concentrically overlapped with the suction cup groove 343 of the rotating part 342 of the leg mechanism 3 of the robot 1. At this time, the vacuum pump 5 is started to evacuate air, and the leg mechanism 3 of the robot is powered off, so that the suction cup 352 of the robot 1 is pressed and adsorbed on the leg mechanism 3 of the robot, and the combination of the two sets of robot monomers 1 is completed;

[0093] (102) Start the steering gear 25 of the robot unit 1 to drive the connecting rod 23 of the robot unit 1 to rotate 90-ɑ degrees clockwise, so that the central axis of the leg mechanism 3 of the robot unit 1 is collinear with the central axis of the leg mechanism 24 of the robot unit. At this time, start the steering gear 25 of the robot unit 1 to drive the connecting rod 23 of the robot unit 1 to rotate clockwise, so that the leg mechanism 3 of the robot unit 1 flips to the outside of the upper wall;

[0094] (103) Start the steering gear 334 of the robot unit 1- to drive the driving gear 332 to rotate clockwise, so that the rack 333 of the robot unit 1- drives the telescopic member 32 and the rotating assembly 34 and the adsorption assembly 35 below it to move downward along the leg axis, and the leg mechanism 3 of the robot unit 1- is extended. At the same time, start the steering gear 334 of the robot unit 1- to drive the driving gear 332 to rotate clockwise, so that the rack 333 drives the telescopic member 32 and the rotating assembly 34 and the adsorption assembly 35 below it to move downward along the leg axis, and the leg mechanism 3 of the robot unit 1- is extended.

[0095] (104) Start the steering gear 25 of the robot unit 1 to drive the connecting rod 23 of the robot unit 1 to rotate clockwise, and at the same time start the steering gear 25 of the robot unit 1 to drive the connecting rod 23 of the robot unit 1 to rotate clockwise, so that the bottom surface of the suction cup 2 422 at the foot end of the leg mechanism 24 of the robot unit 1 coincides with the lower wall surface, at this time, the solenoid valve 2 423 of the robot unit 1 is controlled to be powered off, and the vacuum pump 5 extracts the air in the suction cup 2 422, and the suction cup 2 422 of the robot unit 1 is pressed and adsorbed on the lower wall surface;

[0096] (105) Control the solenoid valve 2423 of the robot unit 12 to be energized, so that the suction cup 2422 at the foot end of the leg mechanism 24 fails to adsorb, and the leg mechanism 24 of the robot unit 12 is unlocked. At this time, the steering gear 225 of the robot unit 12 is started to drive the connecting rod 123 of the robot unit 12 to rotate clockwise, so that the central axis of the leg mechanism 13 of the robot unit 12 is in line with the central axis of its own leg mechanism 24. At the same time, the steering gear 225 of the robot unit 11 is started to drive the connecting rod 123 of the robot unit 11 to rotate clockwise, so that the central axis of the leg mechanism 13 of the robot unit 11 is parallel to the lower wall surface;

[0097] (106) Start the servo 1334 of the robot unit 1- to drive the driving gear 332 to rotate counterclockwise, and the rack 333 drives the telescopic member 32 and the rotating component 34 and the suction component 135 below it to move horizontally to the left along the direction of the leg axis, and the leg mechanism 13 of the robot unit 1- is shortened. At the same time, start the servo 1334 of the robot unit 1- to drive the driving gear 332 to rotate counterclockwise, so that the rack 333 drives the leg connecting member 131 and the part above it to move vertically downward along the direction of the leg axis, and the robot unit 1- moves downward as a whole. At this time, start the servo 25 of the robot unit 1- to drive the connecting rod 13 of the robot unit 1- to rotate clockwise, so that the bottom surface of the suction cup 2422 of the leg mechanism 24 of the robot unit 1- is parallel to the lower wall surface;

[0098] (107) Start the servo 25 of the robot unit 1 to drive the connecting rod 23 of the robot unit 1 to rotate clockwise, and at the same time start the servo 25 of the robot unit 1 to drive the connecting rod 23 of the robot unit 1 to rotate counterclockwise, so that the bottom surface of the suction cup 2 422 of the leg mechanism 2 4 of the robot unit 1 coincides with the lower wall surface, at this time, the solenoid valve 2 423 of the robot unit 1 is controlled to be powered off, and the vacuum pump 5 extracts the air in the suction cup 2 422, so that the suction cup 2 422 of the robot unit 1 is pressed and adsorbed on the lower wall surface;

[0099] (108) The solenoid valve 2 423 of the robot unit 1 is energized, the air inlet and exhaust holes of the suction cup 2 422 of the robot unit 1 are connected, the inner cavity of the suction cup 2 422 is connected to the atmosphere, the suction cup 2 422 is no longer adsorbed in the suction cup groove 343 of the robot unit 1, and the robot unit 1 is disconnected. At this time, the steering gear 2 25 of the robot unit 1 is started to drive the connecting rod 1 23 of the robot unit 1 to rotate clockwise, so that the bottom surface of the suction cup 1 352 at the foot end of the leg mechanism 1 of the robot unit 1 coincides with the lower wall surface, and the robot unit 1 completes the transition between the upper and lower walls; at this time The electromagnetic valve 344 controlling the robot unit 1 is powered off, and the vacuum pump 5 draws out the air in the suction cup 352, and the suction cup 352 is pressurized and adsorbed on the lower wall. At this time, the steering gear 25 of the robot unit 1 is started to drive the connecting rod 23 of the robot unit 1 to rotate counterclockwise, so that the bottom surface of the suction cup 352 at the foot end of the leg mechanism 3 of the robot unit 1 coincides with the lower wall. At this time, the electromagnetic valve 344 controlling the robot unit 1 is powered off, and the vacuum pump 5 draws out the air in the suction cup 352, and the suction cup 352 is pressurized and adsorbed on the lower wall, and the robot unit 1 completes the transition between the upper and lower walls.

[0100] Embodiment seven:

[0101] Fig.10 This is a schematic diagram of the robot unit 1 adaptively changing the path direction in this embodiment, where the black part represents the robot leg mechanism 3 with a revolute pair. The specific implementation process is as follows:

[0102] The electromagnetic valve 2423 of the control leg mechanism 24 is energized, and the suction cup 2422 fails to adsorb, so that the leg mechanism 24 is unlocked. At this time, the output shaft of the servo 25 drives the connecting rod 1 23 to rotate clockwise by a small angle α, driving the leg mechanism 24 of the robot to lift up. At this time, the servo 3 341 in the leg telescopic part 32 rotates the robot monomer 1 around the central axis of the leg mechanism 3 by an angle θ clockwise. At this time, the output shaft of the servo 25 drives the connecting rod 1 23 to rotate counterclockwise by a small angle α, so that the suction cup 2422 fits on the wall. The electromagnetic valve 2423 of the control leg mechanism 24 is de-energized, and the vacuum pump 5 is started to evacuate air so that the suction cup 2422 is pressurized and adsorbed on the wall. The leg mechanism 24 is fixed. Then the electromagnetic valve 1344 of the control leg mechanism 3 is energized, and the suction cup 1352 fails to adsorb, and the fixation of the leg mechanism 3 is released. The output shaft of the servo 25 drives the connecting rod 23 to rotate 180° clockwise, and the robot flips forward; the solenoid valve 344 of the leg mechanism 3 is powered off, the suction cup 352 is pressed and adsorbed on the wall, the leg mechanism 3 is fixed, and the connecting rod 23 is driven to rotate clockwise by a small angle α through the output shaft of the servo 25, so as to drive the leg mechanism 24 of the robot to be lifted up, and the servo 3 341 in the telescopic part 32 rotates the robot monomer 1 around the central axis of the leg mechanism 3 clockwise by an angle θ. At this time, the output shaft of the servo 25 drives the connecting rod 23 to rotate counterclockwise by a small angle α, so that the suction cup 2 422 is attached to the wall, and then the solenoid valve 2 423 of the leg mechanism 2 4 is powered off, and then the suction cup 2 422 is vacuumed and adsorbed on the wall by the vacuum pump 5, and the leg mechanism 2 4 is fixed, so that the robot monomer 1 can adaptively change the path direction.

[0103] To sum up, the technical solution of the present invention, through the coordinated movement of the robot unit 1, multiple wall-climbing robots can provide higher flexibility and reliability in complex and dynamic environments, reduce the workload of a single robot, and deal with problems that are difficult for a single robot to solve. This is of great significance for promoting technological progress and practical applications in the field of robotics.

[0104] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0105] For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. When an element is referred to as being "assembled on", "installed on", "fixed on" or "set on" another element, it can be directly on the other element or there can also be a centered element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be a centered element at the same time. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are only for illustrative purposes and are not intended to be the only implementation method.

[0106] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

[0107] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

Claims

1. A somersault wall-climbing robot, characterized in that: It comprises at least two groups of robot monomers (1), and the two groups of robot monomers (1) are detachably connected; The robot unit (1) comprises a waist gear mechanism (2), and a leg mechanism 1 (3) and a leg mechanism 2 (4) are respectively fixedly mounted at both ends of the waist gear mechanism (2), and the leg mechanism 1 (3) and the leg mechanism 2 (4) use the waist gear mechanism (2) as a rotation pair to realize clockwise or counterclockwise flipping operation; The leg mechanism (3) comprises a connecting member (31) fixedly mounted on one end of the waist gear mechanism (2), a telescopic member (32) being slidably connected inside the connecting member (31), and an adjusting component (33) being mounted between the connecting member (31) and the telescopic member (32) for making the telescopic member (32) and the connecting member (31) move closer to or farther away from each other, and a rotating component (34) being mounted at the bottom end of the telescopic member (32), and an adsorption component (35) being mounted at the bottom of the rotating component (34), so that the leg mechanism (3) can be rotated around its own axis by means of the rotating component (34); The leg mechanism 2 (4) comprises a connecting member 2 (41) fixedly mounted on the other end of the waist gear mechanism (2), and a suction component 2 (42) is mounted on the bottom end of the connecting member 2 (41). The suction component 1 (35) and the suction component 2 (42) are used to realize a detachable connection between the robot unit (1) and suction fixation when climbing a wall.

2. The somersault wall-climbing robot according to claim 1, characterized in that: The waist gear mechanism (2) comprises a first gear (21) and a second gear (22), the first gear (21) and the second gear (22) are meshed with each other, one side of the first gear (21) and the second gear (22) is rotatably connected with a connecting rod (23), and both ends of the connecting rod are rotatably connected to the center positions of the first gear (21) and the second gear (22); The second gear (22) is fixedly connected to a second connecting rod (24) on a side away from the first connecting rod (23), a second steering gear (25) is fixedly mounted on the second connecting rod (24), and an output shaft of the second steering gear (25) is fixed to the end of the first connecting rod (23). When the second steering gear (25) is started, it drives the first connecting rod (23) to rotate.

3. The somersault wall-climbing robot according to claim 2, characterized in that: The first connecting member (31) is fixedly mounted on the edge of the first gear (21) by means of bolts, and the second connecting member (41) is fixedly mounted on the edge of the second gear (22) by means of bolts.

4. The somersault wall-climbing robot according to claim 2, characterized in that: The adjustment assembly (33) comprises a cavity (331) opened inside the connecting member (31), the telescopic member (32) is accommodated inside the cavity (331), a driving gear (332) is rotatably connected to the inner wall of the cavity (331), a rack (333) is meshedly connected to one side of the driving gear (332), and the rack (333) is slidably connected to the inside of the cavity (331), and the bottom end of the rack (333) is fixedly connected to the telescopic member (32); A steering gear 1 (334) is fixedly connected to the side wall of the connecting member 1 (31), and an output end of the steering gear 1 (334) passes through the cavity (331) and is fixedly connected to the driving gear (332).

5. The somersault wall-climbing robot according to claim 4, characterized in that: The rotating assembly (34) comprises a steering gear three (341) fixedly connected to the bottom of the telescopic member (32); the output end of the steering gear three (341) is fixedly connected to a rotating member (342); a suction cup groove (343) is provided on one side of the rotating member (342); and a solenoid valve one (344) is fixedly connected to the other side of the rotating member (342).

6. The somersault wall-climbing robot according to claim 5, characterized in that: The adsorption component (35) comprises a foot shell (351) threadedly connected to the bottom end of the rotating member (342), and a suction cup (352) is coaxially installed inside the foot shell (351); The second adsorption assembly (42) comprises a second foot shell (421) threadedly connected to the bottom end of the second connector (41), a second suction cup (422) is coaxially mounted inside the second foot shell (421), and a second solenoid valve (423) is fixedly connected to the outer wall of the second connector (41); The suction cup 1 (352) and the suction cup 2 (422) are both provided with an air inlet hole and an air outlet hole. When the solenoid valve 1 (344) is energized, the air inlet hole and the air outlet hole of the suction cup 1 (352) are connected, the inner cavity of the suction cup 1 (352) is connected to the atmosphere, and the fixing of the suction cup 1 (352) fails. When the solenoid valve 2 (423) is energized, the air inlet hole and the air outlet hole of the suction cup 2 (422) are connected, the inner cavity of the suction cup 2 (422) is connected to the atmosphere, and the fixing of the suction cup 2 (422) fails. A vacuum pump (5) is fixedly connected to the side wall of the connecting rod 1 (23), and the vacuum pump (5) is connected to the suction cup 1 (352) and the suction cup 2 (422) through a conduit.

7. The somersault wall-climbing robot according to claim 5, characterized in that: The suction cup 2 (422) of one group of robot monomers (1) is adsorbed and fixed in the suction cup groove (343) of another group of robot monomers (1) to achieve connection between the two groups of robot monomers (1).

8. A method for a ground-based somersault forward motion of a wall-climbing robot, using a set of robot units (1) as claimed in any one of claims 1 to 7, characterized in that: The specific steps are as follows: (81) In the initial state, the robot unit (1) is adsorbed on the upper wall and remains stationary. At this time, the electromagnetic valve (344) controlling the robot unit (1) is energized, the air inlet and the air outlet of the suction cup (352) are connected, and the suction of the suction cup (352) fails, so that the leg mechanism (3) of the robot unit (1) is unlocked; (82) The output shaft of the servo 2 (25) on the robot unit (1) is started to drive the connecting rod 1 (23) to rotate 180° clockwise. At this time, the first gear (21) will revolve relative to the second gear (22). Because the first gear (21) and the second gear (22) are meshed with each other, the first gear (21) will also rotate at the same time, driving the leg mechanism 1 (3) below it to rotate clockwise, thereby realizing the somersault movement of the robot unit (1) to one side.

9. A method for cooperative outer right-angle transition motion of a somersault wall-climbing robot, using a somersault wall-climbing robot as claimed in any one of claims 1 to 7, characterized in that: The specific steps are as follows: (91) In the initial state, both groups of robot units (1) are adsorbed on the outer right-angle upper wall and remain stationary. At this time, the solenoid valve (344) of the robot unit (1) is energized, so that the air inlet and exhaust holes of the suction cup (352) are connected, the inner cavity of the suction cup (352) is connected to the atmosphere, and the suction of the suction cup (352) fails to be adsorbed, so that the leg mechanism (3) of the robot unit (1) is unlocked. At this time, the servo (25) of the robot unit (1) is started to drive the connecting rod (23) to rotate anti-clockwise by ɑ degrees, so as to drive the leg mechanism (3) of the robot unit (1) to be lifted up. At the same time, the solenoid valve (344) of the robot unit (1) is energized, and the suction of the suction cup (352) of the robot unit (1) fails to be adsorbed, which causes the leg mechanism (3) of the robot unit (1) to be unlocked. The first leg mechanism (3) is unlocked, and then the second steering gear (25) of the second robot unit (1) is started to drive the connecting rod (23) of the second robot unit (1) to rotate clockwise by β degrees, so that the leg mechanism (3) of the second robot unit (1) is lifted upward. At this time, the bottom surface of the suction cup (352) at the foot end of the leg mechanism (3) of the first robot unit (1) is concentrically overlapped with the suction cup groove (343) on the rotating part (342) of the leg mechanism (3) of the second robot unit (1). At this time, the vacuum pump (5) is started to evacuate air, and the power of the leg mechanism (3) of the first robot unit (1) is cut off, so that the suction cup (352) of the first robot unit (1) is pressed and adsorbed on the leg mechanism (3) of the second robot unit (1), completing the combination of the two sets of robot units (1); (92) starting the servo 2 (25) of the robot unit (1) to drive the connecting rod 1 (23) of the robot unit (1) to rotate 90-α degrees clockwise, so that the central axis of the leg mechanism 1 (3) of the robot unit (1) is collinear with the central axis of its own leg mechanism 2 (4). At this time, starting the servo 2 (25) of the robot unit (1) to drive the connecting rod 1 (23) of the robot unit (1) to rotate 90-β degrees clockwise, so that the central axis of the leg mechanism 1 (3) of the robot unit (1) is collinear with the central axis of its own leg mechanism 2 (4). At this time, the robot unit (1) is driven to the outside of the wall; (93) starting the servo 2 (25) of the robot unit (1) 2 to drive the connecting rod 1 (23) of the robot unit (1) 2 to rotate 45 degrees clockwise, so that the central axis of the leg mechanism 1 (3) of the robot unit (1) 2 is parallel to the outer right-angle upper wall surface, controlling the servo 1 (334) of the robot unit (1) 2 to drive the driving gear (332) to rotate clockwise, and the rack (333) drives the telescopic part (32) of the robot unit (1) 2 and the rotating component (34) and the adsorption component 1 (35) below it to move up along the leg axis direction; (94) Control the steering gear (334) of the robot unit (1) to drive the driving gear (332) to rotate clockwise, and the rack (333) drives the telescopic member (32) and the rotating assembly (34) and the adsorption assembly (35) below to move downward along the axis of the leg, and the leg mechanism (3) of the robot unit (1) is extended, and then control the steering gear (25) of the robot unit (1) to drive the connecting rod of the robot unit (1) to rotate 45 degrees clockwise, so that the central axis of the leg mechanism (4) of the robot unit (1) is aligned with the outer right-angle side wall surface. Vertically, the driving gear (332) is driven to rotate by the steering gear (334) of the robot unit (1) two, thereby adjusting the distance between the suction cup (422) of the leg mechanism (4) of the robot unit (1) two and the wall by adjusting the extension and contraction of the rack (333) until the suction cup (422) coincides with the wall. At this time, the solenoid valve (423) of the robot unit (1) one is controlled to be powered off, and the vacuum pump (5) extracts the air in the suction cup (422), so that the suction cup (422) of the leg mechanism (4) of the robot unit (1) two is pressed and adsorbed on the outer right-angle side wall; (95) Control the solenoid valve 2 (423) of the robot unit (1) 2 to be energized, the suction cup 2 (422) of the robot unit (1) 2 fails to adsorb, and the leg mechanism 2 (4) of the robot unit (1) 2 is unlocked. At this time, the servo 2 (25) of the robot unit (1) 2 is started to drive the connecting rod 1 (23) of the robot unit (1) 2 to rotate clockwise, so that the central axis of the leg mechanism 1 (3) of the robot unit (1) 2 is in line with the central axis of the leg mechanism 2 (4) of the robot unit. At this time, the servo 2 (25) of the robot unit (1) 1 is started to drive the connecting rod 1 (23) of the robot unit (1) 1 to rotate 90 degrees clockwise, so that the central axis of the leg mechanism 1 (3) of the robot unit (1) 1 is parallel to the outer right-angle side wall surface; (96) Controlling the servo (334) of the robot unit (1) one to drive the driving gear (332) to rotate counterclockwise, so that the rack (333) of the robot unit (1) one drives the telescopic member (32) and the rotating assembly (34) and the adsorption assembly (35) below to move up along the axis of the leg, and the leg mechanism (3) of the robot unit (1) one is shortened. At this time, controlling the servo (334) of the robot unit (1) two to drive the driving gear (332) to rotate counterclockwise, the rack (333) of the robot unit (1) two drives the telescopic member (32) and the rotating assembly (34) and the adsorption assembly (35) below to move left along the axis of the leg, and the leg mechanism (3) of the robot unit (1) two is shortened; (97) starting the servo motor 2 (25) of the robot unit (1) 1 to drive the connecting rod 1 (23) of the robot unit (1) 1 to rotate clockwise, and at the same time starting the servo motor 2 (25) of the robot unit (1) 2 to drive the connecting rod 1 (23) of the robot unit (1) 2 to rotate clockwise, so that the suction cup 2 (422) of the leg mechanism 2 (4) of the robot unit (1) 2 coincides with the outer right-angle side wall surface, at this time, the solenoid valve 2 (423) of the robot unit (1) 2 is powered off, and the vacuum pump (5) extracts the air in the suction cup 2 (422), and the suction cup 2 (422) is pressurized and adsorbed on the outer right-angle side wall surface; (98) The solenoid valve 1 (344) of the robot unit (1) is energized, the air inlet and the exhaust holes are connected, the inner cavity of the suction cup 1 (352) of the robot unit (1) is connected to the atmosphere, the suction cup 1 (352) is no longer adsorbed in the suction cup groove (343) of the robot unit (1) 2, and the robot unit (1) is disconnected. At this time, the steering gear 2 (25) of the robot unit (1) 1 is started to drive the connecting rod 1 (23) of the robot unit (1) 2 to rotate clockwise, so that the bottom surface of the suction cup 1 (352) of the leg mechanism 1 (3) of the robot unit (1) 2 overlaps with the side wall surface, and the solenoid valve 1 (344) of the robot unit (1) 1 is de-energized, and the vacuum pump (5) extracts the suction cup. The air in the suction cup (352) is sucked out by the robot unit (1) and the suction cup (352) is pressed and adsorbed on the outer right-angle side wall, and the robot unit (1) completes the transition of the outer right-angle wall; at the same time, the steering gear (25) of the robot unit (1) is started to drive the connecting rod (23) of the robot unit (1) to rotate counterclockwise, so that the bottom surface of the suction cup (352) of the leg mechanism (3) of the robot unit (1) coincides with the side wall. At this time, the solenoid valve (344) of the robot unit (1) is powered off, and the vacuum pump (5) extracts the air in the suction cup (352), and the suction cup (352) is pressed and adsorbed on the outer right-angle side wall, and the robot unit (1) completes the transition of the outer right-angle wall.

10. A method for cooperative upper and lower wall transition motion of a somersault wall-climbing robot, using a somersault wall-climbing robot as claimed in any one of claims 1 to 7, characterized in that: The specific steps are as follows: (101) In the initial state, the two groups of robot monomers (1) are adsorbed on the upper wall and remain stationary. At this time, the solenoid valve (344) of the robot monomer (1) is energized, the air inlet and exhaust holes of the suction cup (352) of the robot monomer (1) are connected, the inner cavity of the suction cup (352) is connected to the atmosphere, and the adsorption of the suction cup (352) fails, so that the leg mechanism (3) of the robot monomer (1) is unlocked. At this time, the steering gear (25) of the robot monomer (1) is started, driving the connecting rod (23) to rotate anticlockwise by ɑ degrees, driving the leg mechanism (3) of the robot monomer (1) to lift up. At the same time, the solenoid valve (344) of the robot monomer (1) is energized, the suction cup (352) fails, and the robot monomer (1) The leg mechanism 1 (3) of the second robot is unlocked, and the steering gear 2 (25) of the second robot unit (1) is started to drive the connecting rod 1 (23) to rotate clockwise by β degrees, so that the leg mechanism 1 (3) of the second robot unit (1) is lifted upward, and the bottom surface of the suction cup 1 (352) of the leg mechanism 1 (3) of the first robot unit (1) is concentrically overlapped with the suction cup groove (343) of the rotating part (342) of the leg mechanism 1 (3) of the second robot unit (1). At this time, the vacuum pump (5) is started to evacuate air, and the leg mechanism 1 (3) of the first robot unit (1) is powered off, so that the suction cup 1 (352) of the first robot unit (1) is pressed and adsorbed on the leg mechanism 1 (3) of the second robot unit (1), thereby completing the combination of the two sets of robot units (1); (102) starting the servo 2 (25) of the robot unit (1) 1 to drive the connecting rod 1 (23) of the robot unit (1) 1 to rotate 90-ɑ degrees clockwise, so that the central axis of the leg mechanism 1 (3) of the robot unit (1) 1 is in line with the central axis of the leg mechanism 2 (4) of the robot unit. At this time, starting the servo 2 (25) of the robot unit (1) 2 to drive the connecting rod 1 (23) of the robot unit (1) 2 to rotate clockwise, so that the leg mechanism 1 (3) of the robot unit (1) 2 flips to the outside of the upper wall surface; (103) starting the servo (334) of the robot unit (1) one to drive the driving gear (332) to rotate clockwise, thereby driving the telescopic member (32) and the rotating assembly (34) and the adsorption assembly (35) below it to move downward along the axis of the leg through the rack (333) of the robot unit (1) one, and the leg mechanism (3) of the robot unit (1) one is extended; at the same time, starting the servo (334) of the robot unit (1) two to drive the driving gear (332) to rotate clockwise, so that the rack (333) drives the telescopic member (32) and the rotating assembly (34) and the adsorption assembly (35) below it to move downward along the axis of the leg, and the leg mechanism (3) of the robot unit (1) two is extended; (104) starting the servo motor 2 (25) of the robot unit (1) 1 to drive the connecting rod 1 (23) of the robot unit (1) 1 to rotate clockwise, and at the same time starting the servo motor 2 (25) of the robot unit (1) 2 to drive the connecting rod 1 (23) of the robot unit (1) 2 to rotate clockwise, so that the bottom surface of the suction cup 2 (422) at the foot end of the leg mechanism 2 (4) of the robot unit (1) 1 overlaps with the lower wall surface, at this time, the solenoid valve 2 (423) of the robot unit (1) 1 is controlled to be powered off, the vacuum pump (5) extracts the air in the suction cup 2 (422), and the suction cup 2 (422) of the robot unit (1) 1 is pressed and adsorbed on the lower wall surface; (105) Control the solenoid valve 2 (423) of the robot unit (1) 2 to be energized, so that the suction cup 2 (422) at the foot end of the leg mechanism 2 (4) fails to adsorb, and the leg mechanism 2 (4) of the robot unit (1) 2 is unlocked. At this time, the servo 2 (25) of the robot unit (1) 2 is started to drive the connecting rod 1 (23) of the robot unit (1) 2 to rotate clockwise, so that the central axis of the leg mechanism 1 (3) of the robot unit (1) 2 is in line with the central axis of the leg mechanism 2 (4) of the robot unit (1), and at the same time, the servo 2 (25) of the robot unit (1) 1 is started to drive the connecting rod 1 (23) of the robot unit (1) 1 to rotate clockwise, so that the central axis of the leg mechanism 1 (3) of the robot unit (1) 1 is parallel to the lower wall surface; (106) Start the servo (334) of the robot unit (1) one to drive the driving gear (332) to rotate counterclockwise, and the rack (333) drives the telescopic member (32) and the rotating assembly (34) and the suction assembly (35) below to move horizontally to the left along the direction of the leg axis, and the leg mechanism (3) of the robot unit (1) one is shortened. At the same time, start the servo (334) of the robot unit (1) two to drive the driving gear (332) to rotate counterclockwise, so that the rack (333) drives the leg connecting member (31) and the part above to move vertically downward along the direction of the leg axis, and the robot unit (1) two moves downward as a whole. At this time, start the servo (25) of the robot unit (1) two to drive the connecting rod (23) of the robot unit (1) two to rotate clockwise, so that the bottom surface of the suction cup (422) of the leg mechanism (4) of the robot unit (1) two is parallel to the lower wall surface; (107) starting the servo 2 (25) of the robot unit (1) 1 to drive the connecting rod 1 (23) of the robot unit (1) 1 to rotate clockwise, and at the same time starting the servo 2 (25) of the robot unit (1) 2 to drive the connecting rod 1 (23) of the robot unit (1) 2 to rotate counterclockwise, so that the bottom surface of the suction cup 2 (422) of the leg mechanism 2 (4) of the robot unit (1) 2 overlaps with the lower wall surface, at this time, the solenoid valve 2 (423) of the robot unit (1) 2 is controlled to be powered off, the vacuum pump (5) extracts the air in the suction cup 2 (422), and the suction cup 2 (422) of the robot unit (1) 2 is pressed and adsorbed on the lower wall surface; (108) The solenoid valve 2 (423) of the robot unit (1) is energized, the air inlet and exhaust holes of the suction cup 2 (422) of the robot unit (1) are connected, the inner cavity of the suction cup 2 (422) is connected to the atmosphere, the suction cup 2 (422) is no longer adsorbed in the suction cup groove (343) of the robot unit (1), and the robot unit (1) is disconnected. At this time, the steering gear 2 (25) of the robot unit (1) is started to drive the connecting rod 1 (23) of the robot unit (1) to rotate clockwise, so that the bottom surface of the suction cup 1 (352) at the foot end of the leg mechanism 1 (3) of the robot unit (1) coincides with the lower wall surface, and the robot unit (1) completes the transition between the upper and lower walls; at this time, the control The electromagnetic valve 1 (344) of the robot unit (1) 2 is powered off, the vacuum pump (5) extracts the air in the suction cup 1 (352), and the suction cup 1 (352) is adsorbed on the lower wall surface under pressure. At this time, the steering gear 2 (25) of the robot unit (1) 2 is started to drive the connecting rod 1 (23) of the robot unit (1) 2 to rotate counterclockwise, so that the bottom surface of the suction cup 1 (352) at the foot end of the leg mechanism 1 (3) of the robot unit (1) 2 coincides with the lower wall surface. At this time, the electromagnetic valve 1 (344) of the robot unit (1) 2 is powered off, the vacuum pump (5) extracts the air in the suction cup 1 (352), and the suction cup 1 (352) is adsorbed on the lower wall surface under pressure. The robot unit (1) 2 completes the transition between the upper and lower walls.

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