A somersault wall-climbing robot and a cooperative motion method thereof

Abstract

The application discloses a somersault wall-climbing robot and a cooperative movement method thereof, and relates to the technical field of robots.The application comprises at least two groups of robot monomers, and the two groups of robot monomers are detachably connected; the robot monomer comprises a waist gear mechanism, two ends of the waist gear mechanism are respectively fixedly provided with a leg mechanism one and a leg mechanism two, and the leg mechanism one and the leg mechanism two realize clockwise or counterclockwise overturning operation by taking the waist gear mechanism as a rotating pair; the leg mechanism one comprises a connecting piece one fixedly installed at one end of the waist gear mechanism, and a telescopic piece is slidably connected in the connecting piece one. Through the cooperative movement of the robot monomers, the multiple wall-climbing robot monomers can provide higher flexibility and reliability in a complex and dynamic environment, reduce the working burden of a single robot, and solve problems that are difficult to solve by a single robot, which has important significance for promoting the technical progress and practical application in the field of robots.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a wall-climbing robot that performs somersaults and its cooperative motion method. Background Technology

[0002] Wall-climbing robots are electromechanical systems capable of multi-degree-of-freedom movement and task completion by attaching to the surface of an object. They are particularly suitable for performing specialized tasks and have wide applications in many fields, such as cleaning building exteriors, repairing aircraft shells, and inspecting large oil and gas tanks. In the application scenarios of wall-climbing robots, the wall structures are often complex. To expand the robot's range of use, it needs the ability to traverse different wall surfaces. Existing wall-climbing robots often have complex structural designs to traverse different surfaces. Therefore, we propose a somersault wall-climbing robot and its cooperative motion method. Summary of the Invention

[0003] The purpose of this invention is to provide a somersault wall-climbing robot and its cooperative motion method, which overcomes the problems of poor wall transition ability, weak environmental adaptability, and complex structure of existing wall-climbing robots. Moreover, the designed robot has a simple single-unit structure and is easy to drive through the cooperative motion of two wall-climbing robot units, thereby improving wall climbing efficiency and environmental adaptability.

[0004] According to a first aspect of the present invention, in order to achieve the above-mentioned objective, the present invention provides the following technical solution: a somersault wall-climbing robot, comprising at least two sets of robot units, wherein the two sets of robot units are detachably connected;

[0005] The robot unit includes a waist gear mechanism, and leg mechanism one and leg mechanism two are fixedly installed at both ends of the waist gear mechanism. Leg mechanism one and leg mechanism two use the waist gear mechanism as a rotating pair to achieve clockwise or counterclockwise flipping operation.

[0006] The leg mechanism includes a connector fixedly installed at one end of the waist gear mechanism. A telescopic component is slidably connected inside the connector. An adjustment component is installed between the connector and the telescopic component to allow the telescopic component and the connector to move closer or further apart. A rotating component is installed at the bottom of the telescopic component, and an adsorption component is installed at the bottom of the rotating component. The rotating component allows the leg mechanism to rotate around its own axis.

[0007] The second leg mechanism includes a second connector fixedly installed at the other end of the waist gear mechanism. The bottom end of the second connector is equipped with a second adsorption component. The first adsorption component and the second adsorption component are used to realize the detachable connection between the robot units and the adsorption fixation when climbing walls.

[0008] Furthermore, the waist gear mechanism includes a first gear and a second gear, which mesh with each other. A connecting rod is rotatably connected to one side of the first gear and the second gear, and the two ends of the connecting rod are respectively rotatably connected to the center positions of the first gear and the second gear.

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

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

[0011] Furthermore, the adjustment assembly includes a cavity opened inside the connector, a telescopic member housed inside the cavity, a drive gear rotatably connected to the inner wall of the cavity, a rack meshing with one side of the drive gear, and the rack slidably connected inside the cavity, with the bottom end of the rack fixedly connected to the telescopic member.

[0012] A servo motor is fixedly connected to the side wall of connector one, and the output end of servo motor one passes through the cavity and is fixedly connected to the drive gear.

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

[0014] Furthermore, the adsorption assembly includes a foot shell that is threadedly connected to the bottom end of the rotating part, and a suction cup is coaxially mounted inside the foot shell.

[0015] The second adsorption component includes a foot shell second that is threaded to the bottom end of the second connector. A suction cup second is coaxially installed inside the foot shell second, and a solenoid valve second is fixedly connected to the outer wall of the second connector.

[0016] Both suction cup one and suction cup two are provided with air inlet and air outlet. When solenoid valve one is energized, the air inlet and air outlet of suction cup one are connected, the inner cavity of suction cup one is connected to the atmosphere, and suction cup one is no longer fixed. When solenoid valve two is energized, the air inlet and air outlet of suction cup two are connected, the inner cavity of suction cup two is connected to the atmosphere, and suction cup two is no longer fixed.

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

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

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

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

[0021] (82) Start the output shaft of the servo motor on the robot unit, so that the drive link rotates 180° clockwise. At this time, the first gear will revolve relative to the second gear. Because of the meshing between the first gear and the second gear, the first gear will also rotate on its own axis, driving the leg mechanism below it to rotate clockwise, so as to realize the robot unit's somersault 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, the specific steps of which are as follows:

[0023] (91) In the initial state, both robot units are attached to the outer right-angled upper wall and remain stationary. At this time, the solenoid valve 1 of robot unit 1 is energized, making the air inlet and outlet of suction cup 1 connected, and the inner cavity of suction cup 1 open to the atmosphere. The suction cup 1 loses its attachment, causing the leg mechanism 1 of robot unit 1 to unlock. At this time, the servo motor 2 of robot unit 1 is activated, driving the linkage 1 to rotate counterclockwise by α degrees, causing the leg mechanism 1 of robot unit 1 to lift upward. At the same time, the solenoid valve 1 of robot unit 2 is energized, and the suction cup 1 of robot unit 2 loses its attachment, thus affecting robot unit 2. Once the leg mechanism is unlocked, the servo motor 2 of robot unit 2 is activated, causing the linkage 1 of robot unit 2 to rotate clockwise by β degrees, which raises the leg mechanism 1 of robot unit 2. At this time, the bottom surface of the suction cup 1 at the foot end of the leg mechanism 1 of robot unit 1 is concentrically aligned with the suction cup groove on the rotating part of the leg mechanism 1 of robot unit 2. Then, the vacuum pump is activated to evacuate air, and the power to the leg mechanism 1 of robot unit 1 is cut off, so that the suction cup 1 of robot unit 1 is pressed and adsorbed onto the leg mechanism 1 of robot unit 2, completing the combination of the two robot units.

[0024] (92) Start the servo motor 2 of robot unit 1 to drive the link 1 of robot unit 1 to rotate clockwise by 90-a degrees, 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 motor 2 of robot unit 2 to drive the link 1 of robot unit 2 to rotate clockwise by 90-β degrees, 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 motor 2 of robot unit 2 to drive the linkage 1 of robot unit 2 to rotate clockwise by 45 degrees, so that the central axis of the leg mechanism 1 of robot unit 2 is parallel to the outer right-angle upper wall. Control the servo motor 1 of robot unit 2 to drive the drive gear to rotate clockwise. The rack drives the telescopic part of robot unit 2 and its lower rotating components and adsorption components 1 to move up along the leg axis.

[0026] (94) Control the servo motor 1 of robot unit 1 to drive the drive gear to rotate clockwise. The rack drives the telescopic component and the rotating components below it and the suction component 1 to move down along the leg axis. The leg mechanism 1 of robot unit 1 extends. Then control the servo motor 2 of robot unit 1 to drive the connecting rod of robot unit 1 to rotate clockwise by 45 degrees, so that the central axis of the leg mechanism 2 of robot unit 1 is perpendicular to the outer right-angle side wall. The servo motor 1 of robot unit 2 drives the drive gear to rotate, thereby adjusting the distance between the suction cup 2 of the leg mechanism 2 of robot unit 2 and the wall by adjusting the extension and shortening of the rack, until the suction cup 2 coincides with the wall. At this time, control the solenoid valve 2 of robot unit 1 to de-energize, the vacuum pump extracts the air in the suction cup 2, and the suction cup 2 of the leg mechanism 2 of robot unit 2 is pressed and adsorbed on the outer right-angle side wall.

[0027] (95) When the solenoid valve 2 of robot unit 2 is energized, the suction cup 2 of robot unit 2 fails to adhere, and the leg mechanism 2 of robot unit 2 is unlocked. At this time, the servo motor 2 of robot unit 2 is activated to drive the link 1 of robot unit 2 to rotate 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, the servo motor 2 of robot unit 1 is activated to drive the link 1 of robot unit 1 to rotate 90 degrees clockwise, so that the central axis of the leg mechanism 1 of robot unit 1 is parallel to the outer right-angle side wall.

[0028] (96) Control the servo motor 1 of robot unit 1 to drive the drive gear to rotate counterclockwise, thereby causing the rack of robot unit 1 to drive the telescopic component and the rotating component and adsorption component 1 below it to move up along the leg axis, and the leg mechanism 1 of robot unit 1 shortens. At this time, control the servo motor 1 of robot unit 2 to drive the drive gear to rotate counterclockwise, and the rack of robot unit 2 to drive the telescopic component and the rotating component and adsorption component 1 below it to move to the left along the leg axis, and the leg mechanism 1 of robot unit 2 shortens.

[0029] (97) Start the servo motor 2 of robot unit 1 to drive the link 1 of robot unit 1 to rotate clockwise. At the same time, start the servo motor 2 of robot unit 2 to drive the link 1 of robot unit 2 to rotate clockwise, so that the suction cup 2 of the leg mechanism 2 of robot unit 2 coincides with the outer right-angle side wall. At this time, the solenoid valve 2 of robot unit 2 is de-energized, the vacuum pump extracts the air in the suction cup 2, and the suction cup 2 is pressed and adsorbed onto the outer right-angle side wall.

[0030] (98) When the solenoid valve of robot unit 1 is energized, the air inlet and outlet are connected, the inner cavity of the suction cup of robot unit 1 is connected to the atmosphere, the suction cup is no longer attached to the suction cup groove of robot unit 2, and the robot units are disconnected. At this time, the servo motor of robot unit 1 is activated to drive the linkage of robot unit 2 to rotate clockwise, so that the bottom surface of the suction cup of the leg mechanism of robot unit 2 coincides with the side wall. When the solenoid valve of robot unit 1 is de-energized, the vacuum pump extracts the air in the suction cup, and the suction cup of robot unit 1 is pressed and attached to the outer right-angle side wall, and robot unit 1 completes the transition to the outer right-angle wall. At the same time, the servo motor of robot unit 2 is activated to drive the linkage of robot unit 2 to rotate counterclockwise, so that the bottom surface of the suction cup of the leg mechanism of robot unit 2 coincides with the side wall. When the solenoid valve of robot unit 2 is de-energized, the vacuum pump extracts the air in the suction cup, and the suction cup is pressed and attached to the outer right-angle side wall, and robot unit 2 completes the transition to the outer right-angle wall.

[0031] According to a fourth aspect of the present invention, the present invention provides a method for cooperative transitional motion between upper and lower walls using a somersault wall-climbing robot, wherein the specific steps are as follows:

[0032] (101) In the initial state, the two robot units are attached to the upper wall and remain stationary. At this time, the solenoid valve 1 of robot unit 1 is energized, the air inlet and outlet of the suction cup 1 of robot unit 1 are connected, the inner cavity of suction cup 1 is connected to the atmosphere, the suction cup 1 fails to adhere, causing the leg mechanism 1 of robot unit 1 to unlock. At this time, the servo motor 2 of robot unit 1 is activated, driving the linkage 1 to rotate counterclockwise by 2 degrees, causing the leg mechanism 1 of robot unit 1 to lift upward. At the same time, the solenoid valve 1 of robot unit 2 is energized, the suction cup 1 fails to adhere, and the robot... When the leg mechanism of robot unit 2 is unlocked, the servo motor 2 of robot unit 2 drives the linkage 1 to rotate clockwise by β degrees, causing the leg mechanism of robot unit 2 to lift upward. The bottom surface of the suction cup 1 of the leg mechanism 1 of robot unit 1 is concentrically aligned with the suction cup groove of the rotating part of the leg mechanism 1 of robot unit 2. At this time, the vacuum pump is started to evacuate air, and the power to the leg mechanism 1 of robot unit 1 is cut off, so that the suction cup 1 of robot unit 1 is pressed and adsorbed onto the leg mechanism 1 of robot unit 2, completing the combination between the two robot units.

[0033] (102) Start the servo motor 2 of robot unit 1 to drive the link 1 of robot unit 1 to rotate clockwise by 90-α degrees, 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 motor 2 of robot unit 2 to drive the link 1 of robot unit 2 to rotate clockwise, so that the leg mechanism 1 of robot unit 2 flips to the outside of the upper wall.

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

[0035] (104) Start the servo motor 2 of robot unit 1 to drive the link 1 of robot unit 1 to rotate clockwise. At the same time, start the servo motor 2 of robot unit 2 to drive the link 1 of 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 robot unit 1 coincides with the lower wall surface. At this time, the solenoid valve 2 of robot unit 1 is de-energized, the vacuum pump extracts the air in the suction cup 2, and the suction cup 2 of robot unit 1 is pressed and adsorbed onto the lower wall surface.

[0036] (105) The solenoid valve 2 of the robot unit 2 is energized, causing the suction cup 2 at the foot end of its leg mechanism 2 to fail to adhere, and the leg mechanism 2 of the robot unit 2 is unlocked. At this time, the servo motor 2 of the robot unit 2 is activated to drive the link 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 collinear with the central axis of its own leg mechanism 2. At the same time, the servo motor 2 of the robot unit 1 is activated to drive the link 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 motor 1 of robot unit 1, drive the drive gear to rotate counterclockwise, the rack drives the telescopic component and the rotating component below and the suction component 1 to move horizontally to the left along the leg axis, the leg mechanism 1 of robot unit 1 shortens, at the same time start the servo motor 1 of robot unit 2 to drive the drive gear to rotate counterclockwise, so that the rack drives the leg connector 1 and the part above to move vertically downward along the leg axis, the entire robot unit 2 moves downward, at this time start the servo motor 2 of robot unit 2 to drive the link 1 of robot unit 2 to rotate clockwise, so that the bottom surface of the suction cup 2 of the leg mechanism 2 of robot unit 2 is parallel to the lower wall surface;

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

[0039] (108) When the solenoid valve 2 of robot unit 1 is energized, the air inlet and outlet of the suction cup 2 of robot unit 1 are connected, the inner cavity of suction cup 2 is connected to the atmosphere, and suction cup 2 is no longer attached to the suction cup groove of robot unit 2. The robot units are disconnected. At this time, the servo motor 2 of robot unit 1 is activated to drive the linkage 1 of robot unit 1 to rotate clockwise, so that the bottom surface of the foot suction cup 1 of the leg mechanism 1 of robot unit 2 coincides with the lower wall surface, and robot unit 1 completes the transition between the upper and lower walls. At this time, the solenoid valve 1 of robot unit 2 is de-energized, the vacuum pump extracts the air in suction cup 1, and suction cup 1 is pressed and attached to the lower wall surface. At this time, the servo motor 2 of robot unit 2 is activated to drive the linkage 1 of robot unit 2 to rotate counterclockwise, so that the bottom surface of the foot suction cup 1 of the leg mechanism 1 of robot unit 2 coincides with the lower wall surface. At this time, the solenoid valve 1 of robot unit 2 is de-energized, the vacuum pump extracts the air in suction cup 1, and suction cup 1 is pressed and attached to the lower wall surface, and robot unit 2 completes the transition between the upper and lower walls.

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

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

[0042] 2. This invention enables multiple wall-climbing robot units to provide greater flexibility and reliability in complex and dynamic environments through the coordinated movement of individual robot units, reducing the workload of individual robots and addressing 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 this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

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

[0045] Figure 2 This is a three-dimensional schematic diagram of a single robot unit from a second perspective in an embodiment of the present invention;

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

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

[0048] Figure 5 This is a schematic diagram of the robot's single-unit somersault forward motion in an embodiment of the present invention;

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

[0050] Figure 7 This is a schematic diagram of the collaborative upper and lower wall transition motion of two groups of individual robots in an embodiment of the present invention;

[0051] Figure 8 This is a schematic diagram of the adsorption and combination of two sets of robot units in an embodiment of the present invention;

[0052] Figure 9 This is a schematic diagram of two groups of robots working together to adhere to the lower wall surface in an embodiment of the present invention;

[0053] Figure 10 This is a schematic diagram illustrating how a single robot adaptively changes its path direction in an embodiment of the present invention.

[0054] Figure label:

[0055] 1. Robot unit; 2. Waist gear mechanism; 21. First gear; 22. Second gear; 23. Link 1; 24. Link 2; 25. Servo motor 2; 3. Leg mechanism 1; 31. Connector 1; 32. Telescopic component; 33. Adjustment assembly; 331. Cavity; 332. Drive gear; 333. Rack; 334. Servo motor 1; 34. Rotation assembly; 341. Servo motor 3; 342. Rotation component; 343. Suction cup groove; 344. Solenoid valve 1; 35. Adsorption assembly 1; 351. Foot shell 1; 352. Suction cup 1; 4. Leg mechanism 2; 41. Connector 2; 42. Adsorption assembly 2; 421. Foot shell 2; 422. Suction cup 2; 423. Solenoid valve 2; 5. Vacuum pump. Detailed Implementation

[0056] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0057] Example 1:

[0058] Please see Figures 1 to 4 The present invention provides a technical solution: a somersault wall-climbing robot, comprising at least two sets of robot units 1, and the two sets of robot units 1 are detachably connected;

[0059] The robot unit 1 includes a waist gear mechanism 2. Leg mechanism 1 3 and leg mechanism 2 4 are fixedly installed at both ends of the waist gear mechanism 2. The leg mechanism 1 3 and leg mechanism 2 4 achieve clockwise or counterclockwise flipping operation by using the waist gear mechanism 2 as a rotating pair.

[0060] The leg mechanism 3 includes a connector 31 fixedly installed at one end of the waist gear mechanism 2. A telescopic member 32 is slidably connected inside the connector 31. An adjustment component 33 is installed between the connector 31 and the telescopic member 32 to make the telescopic member 32 and the connector 31 move closer or further apart. A rotating component 34 is installed at the bottom of the telescopic member 32. An adsorption component 35 is installed at the bottom of the rotating component 34. The rotating component 34 enables the leg mechanism 3 to rotate around its own axis.

[0061] The leg mechanism 2 4 includes a connector 2 41 fixedly installed at the other end of the waist gear mechanism 2. The bottom end of the connector 2 41 is equipped with an adsorption component 2 42. 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] Regarding the technical solution of this embodiment, the waist gear mechanism 2 includes a first gear 21 and a second gear 22, which mesh with each other. A connecting rod 23 is rotatably connected to one side of the first gear 21 and the second gear 22, and the two ends of the connecting rod 23 are respectively rotatably connected to the center positions of the first gear 21 and the second gear 22.

[0063] The second gear 22 is fixedly connected to the second link 24 on the side away from the first link 23. The second servo motor 25 is fixedly mounted on the second link 24, and the output shaft of the second servo motor 25 is fixed to the end of the first link 23. When the second servo motor 25 is started, it will drive the first link 23 to rotate. At this time, the first gear 21 will revolve relative to the second gear 22. Because of the meshing between the first gear 21 and the second gear 22, the first gear 21 will also rotate on its own axis, thereby driving the leg mechanism 3 to perform a flipping motion.

[0064] Furthermore, connector 31 is fixedly installed on the edge of the first gear 21 by bolts, and connector 41 is fixedly installed on the edge of the second gear 22 by bolts. The bolts are used for detachable connection, which can facilitate disassembly later and convenient storage when not in use, avoiding taking up too much storage space.

[0065] Regarding the technical solution of this embodiment, the adjustment component 33 includes a cavity 331 opened inside the connector 31, and a telescopic component 32 housed inside the cavity 331. A drive gear 332 is rotatably connected to the inner wall of the cavity 331. A rack 333 is meshed with one side of the drive gear 332, and the rack 333 is slidably connected inside the cavity 331. The bottom end of the rack 333 is fixedly connected to the telescopic component 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 connector 31. The guide groove facilitates the limiting and guiding of the rack 333 and can prevent the rack 333 from deviating.

[0066] A servo motor 334 is fixedly connected to the side wall of the connector 31. The output end of the servo motor 334 passes through the cavity 331 and is fixedly connected to the drive gear 332. The servo motor 334 has a self-locking function. When the rack 333 does not need to extend or retract, it can be effectively locked by the meshing between the drive gear 332 and the rack 333, thereby achieving the stability of the leg mechanism 3 during operation.

[0067] Regarding the technical solution of this embodiment, the rotating component 34 includes a servo motor 341 fixedly connected to the bottom of the telescopic component 32. The output end of the servo motor 341 is fixedly connected to the rotating component 342. A suction cup groove 343 is provided on one side of the rotating component 342, and a solenoid valve 344 is fixedly connected to the other side of the rotating component 342. When the servo motor 341 is activated, the rotating component 342 is moved, which can drive the rotating component 342 and the suction component 35 to rotate around their own axis.

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

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

[0070] Both suction cup 1 (352) and suction cup 2 (422) are provided with air inlet and air outlet. When solenoid valve 1 (344) is energized, the air inlet and air outlet of suction cup 1 (352) are connected, and the inner cavity of suction cup 1 (352) is connected to the atmosphere, thus rendering suction cup 1 (352) unsecured. When solenoid valve 2 (423) is energized, the air inlet and air outlet of suction cup 2 (422) are connected, and the inner cavity of suction cup 2 (422) is connected to the atmosphere, thus rendering suction cup 2 (422) unsecured.

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

[0072] Example 2:

[0073] like Figure 5 As shown, this embodiment provides a method for a somersaulting wall-climbing robot to perform a somersaulting forward motion on flat ground, using a set of the above-mentioned robot units 1. The specific steps are as follows:

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

[0075] (82) Start the output shaft of the servo motor 25 on the robot unit 1, so that it drives the connecting rod 23 to rotate 180° clockwise. At this time, the first gear 21 will revolve relative to the second gear 22. Because of the meshing between the first gear 21 and the second gear 22, the first gear 21 will also rotate on its own axis, driving the leg mechanism 3 below it to rotate clockwise, so as to realize the somersault movement of the robot unit 1 to one side.

[0076] Example 3:

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

[0078] Example 4:

[0079] Figure 9 This is a schematic diagram of the cooperative adsorption of robot unit 1 onto the lower wall in this embodiment. At this time, the leg mechanism 2 4 of robot unit 1 is adsorbed onto the upper wall, and the leg mechanism 2 4 of robot unit 1 is adsorbed onto the lower wall. Let the angle through which the link 23 of robot unit 1 rotates be θ degrees, and the angle through which the link 23 of robot unit 1 rotates be γ degrees. From the geometric relationship, it is easy to obtain that 2θ + 2γ = 90°. Therefore, the condition for the cooperative adsorption of robot unit 1 onto the lower wall is that the sum of the angles θ and γ of the two links 23 is 45°.

[0080] Example 5:

[0081] like Figure 6 As shown, this embodiment provides a collaborative external right-angle transition motion method for a somersault wall-climbing robot. Using the aforementioned somersault wall-climbing robot, the specific steps are as follows:

[0082] (91) In the initial state, both robot units 1 are attached to the outer right-angled upper wall and remain stationary. At this time, the solenoid valve 344 controlling robot unit 1 is energized, making the air inlet and outlet of suction cup 352 connected, and the inner cavity of suction cup 352 open to the atmosphere. The suction cup 352 fails to adhere, causing the leg mechanism 3 of robot unit 1 to unlock. At this time, the servo motor 25 of robot unit 1 is activated, driving the connecting rod 23 to rotate counterclockwise by 2 degrees, causing the leg mechanism 3 of robot unit 1 to lift upward. At the same time, the solenoid valve 344 of robot unit 12 is energized, and the suction cup 352 of robot unit 12 fails to adhere, thus affecting robot unit 12. Leg mechanism 13 is unlocked, and then the servo motor 25 of robot unit 12 is activated, which drives the connecting rod 23 of robot unit 12 to rotate clockwise by β degrees, causing the leg mechanism 13 of robot unit 12 to lift upward. At this time, the bottom surface of the suction cup 352 at the foot end of the leg mechanism 13 of robot unit 11 is concentrically aligned with the suction cup groove 343 on the rotating part 342 of the leg mechanism 13 of robot unit 12. At this time, the vacuum pump 5 is activated to pump air, and the power to the leg mechanism 13 of robot unit 11 is cut off, so that the suction cup 352 of robot unit 11 is pressed and adsorbed onto the leg mechanism 3 of robot unit 12, completing the combination between the two robot units 1.

[0083] (92) Start the servo motor 25 of robot unit 1 to drive the link 23 of robot unit 1 to rotate 90-a degrees clockwise, so that the central axis of the leg mechanism 3 of robot unit 1 is collinear with the central axis of its own leg mechanism 4. At this time, start the servo motor 25 of robot unit 1 to drive the link 23 of robot unit 1 to rotate 90-β degrees clockwise, so that the central axis of the leg mechanism 3 of robot unit 1 is collinear with the central axis of its own leg mechanism 4. At this time, robot unit 1 is driven to the outside of the wall.

[0084] (93) Start the servo motor 25 of robot unit 12 to drive the link 23 of robot unit 12 to rotate 45 degrees clockwise, so that the central axis of the leg mechanism 3 of robot unit 12 is parallel to the outer right-angle upper wall. Control the servo motor 334 of robot unit 12 to drive the drive gear 332 to rotate clockwise. The rack 333 drives the telescopic part 32 of robot unit 12 and its lower rotating components 34 and adsorption components 35 to move up along the leg axis.

[0085] (94) Control the servo motor 334 of robot unit 1 to drive the drive gear 332 to rotate clockwise. The rack 333 drives the telescopic component 32 and the rotating component 34 below it and the adsorption component 35 to move downward along the leg axis. The leg mechanism 3 of robot unit 1 extends. Then control the servo motor 25 of robot unit 1 to drive the connecting rod of robot unit 1 to rotate clockwise by 45 degrees, so that the central axis of the leg mechanism 4 of robot unit 1 is perpendicular to the outer right-angle side wall. With the surface perpendicular, the drive gear 332 is rotated by the servo motor 334 of robot unit 1, thereby adjusting the distance between the suction cup 422 of the leg mechanism 4 of robot unit 1 and the wall surface by adjusting the extension and retraction of the rack 333, until the suction cup 422 coincides with the wall surface. At this time, the solenoid valve 423 of robot unit 1 is de-energized, the vacuum pump 5 extracts the air in the suction cup 422, and the suction cup 422 of the leg mechanism 4 of robot unit 1 is pressed and adsorbed onto the outer right-angle side wall surface.

[0086] (95) When the solenoid valve 423 of the robot unit 1 is energized, the suction cup 422 of the robot unit 1 fails to adhere, and the leg mechanism 4 of the robot unit 1 is unlocked. At this time, the servo motor 25 of the robot unit 1 is activated to drive the link 23 of the robot unit 1 to rotate 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 4. At this time, the servo motor 25 of the robot unit 1 is activated to drive the link 23 of the robot unit 1 to rotate 90 degrees clockwise, so that the central axis of the leg mechanism 3 of the robot unit 1 is parallel to the outer right-angle side wall.

[0087] (96) Control the servo motor 334 of robot unit 1 to drive the drive gear 332 to rotate counterclockwise, thereby causing the rack 333 of robot unit 1 to drive the telescopic component 32 and the rotating component 34 and the adsorption component 35 below it to move up along the leg axis, and the leg mechanism 3 of robot unit 1 shortens. At this time, control the servo motor 334 of robot unit 2 to drive the drive gear 332 to rotate counterclockwise, and the rack 333 of robot unit 2 to drive the telescopic component 32 and the rotating component 34 and the adsorption component 35 below it to move to the left along the leg axis, and the leg mechanism 3 of robot unit 2 shortens.

[0088] (97) Start the servo motor 25 of robot unit 1 to drive the link 23 of robot unit 1 to rotate clockwise. At the same time, start the servo motor 25 of robot unit 12 to drive the link 23 of robot unit 12 to rotate clockwise, so that the suction cup 422 of the leg mechanism 4 of robot unit 12 coincides with the outer right-angle side wall. At this time, the solenoid valve 423 of robot unit 12 is de-energized, the vacuum pump 5 extracts the air in the suction cup 422, and the suction cup 422 is pressed and adsorbed onto the outer right-angle side wall.

[0089] (98) The solenoid valve 344 of robot unit 1 is energized, the air inlet and outlet are connected, the inner cavity of suction cup 352 of robot unit 1 is open to the atmosphere, suction cup 352 is no longer attached to the suction cup groove 343 of robot unit 2, the connection between robot units 1 is disconnected, at this time the servo motor 25 of robot unit 1 is activated to drive the connecting rod 23 of robot unit 1 to rotate clockwise, so that the bottom surface of suction cup 352 of the leg mechanism 3 of robot unit 1 coincides with the side wall surface, the solenoid valve 344 of robot unit 1 is de-energized, and the vacuum pump 5 extracts suction cup 352. The air inside 352 is pressed and adsorbed onto the outer right-angle side wall of robot unit 1, completing the transition of robot unit 1 to the outer right-angle wall; at the same time, the servo motor 25 of robot unit 12 is activated to drive the connecting rod 23 of robot unit 12 to rotate counterclockwise, so that the bottom surface of the suction cup 352 of the leg mechanism 3 of robot unit 12 coincides with the side wall. At this time, the solenoid valve 344 of robot unit 12 is de-energized, and the vacuum pump 5 extracts the air inside the suction cup 352, and the suction cup 352 is pressed and adsorbed onto the outer right-angle side wall, completing the transition of robot unit 12 to the outer right-angle wall.

[0090] Example 6:

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

[0092] (101) In the initial state, the two robot units 1 are attached to the upper wall and remain stationary. At this time, the solenoid valve 344 of robot unit 1 is energized, the air inlet and outlet of the suction cup 352 of robot unit 1 are connected, the inner cavity of suction cup 352 is connected to the atmosphere, the suction cup 352 fails to adhere, and the leg mechanism 3 of robot unit 1 is unlocked. At this time, the servo motor 25 of robot unit 1 is activated, driving the linkage 23 to rotate counterclockwise by 2 degrees, causing the leg mechanism 3 of robot unit 1 to lift upward. At the same time, the solenoid valve 344 of robot unit 12 is energized, the suction cup 352 fails to adhere, and the robot... The leg mechanism 3 of robot unit 1 is unlocked, and the servo motor 25 of robot unit 1 is activated to drive the linkage 23 to rotate clockwise by β degrees, causing the leg mechanism 3 of robot unit 1 to lift upward. The bottom surface of the suction cup 352 of the leg mechanism 3 of robot unit 1 is concentrically aligned with the suction cup groove 343 of the rotating part 342 of the leg mechanism 3 of robot unit 1. At this time, the vacuum pump 5 is activated to evacuate air, and the power to the leg mechanism 3 of robot unit 1 is cut off, so that the suction cup 352 of robot unit 1 is pressed and adsorbed onto the leg mechanism 3 of robot unit 1, completing the combination between the two robot units 1.

[0093] (102) Start the servo motor 25 of robot unit 1 to drive the link 23 of robot unit 1 to rotate clockwise by 90-a degrees, so that the central axis of the leg mechanism 3 of robot unit 1 is collinear with the central axis of its own leg mechanism 4. At this time, start the servo motor 25 of robot unit 1 to drive the link 23 of robot unit 1 to rotate clockwise, so that the leg mechanism 3 of robot unit 1 flips to the outside of the upper wall.

[0094] (103) Start the servo motor 334 of robot unit 1, drive the drive gear 332 to rotate clockwise, thereby driving the telescopic component 32 and the rotating component 34 and the adsorption component 35 below it to move downward along the leg axis direction through the rack 333 of robot unit 1, and the leg mechanism 3 of robot unit 1 extends. At the same time, start the servo motor 334 of robot unit 2 to drive the drive gear 332 to rotate clockwise, so that the rack 333 drives the telescopic component 32 and the rotating component 34 and the adsorption component 35 below it to move downward along the leg axis direction, and the leg mechanism 3 of robot unit 2 extends.

[0095] (104) Start the servo motor 25 of robot unit 1 to drive the link 23 of robot unit 1 to rotate clockwise. At the same time, start the servo motor 25 of robot unit 1 to drive the link 23 of robot unit 1 to rotate clockwise, so that the bottom surface of the suction cup 422 at the foot end of the leg mechanism 4 of robot unit 1 overlaps with the lower wall surface. At this time, the solenoid valve 423 of robot unit 1 is de-energized, the vacuum pump 5 extracts the air in the suction cup 422, and the suction cup 422 of robot unit 1 is pressed and adsorbed to the lower wall surface.

[0096] (105) The solenoid valve 423 of the robot unit 1 is energized, causing the suction cup 422 at the foot end of the leg mechanism 4 to fail to adhere, and the leg mechanism 4 of the robot unit 1 is unlocked. At this time, the servo motor 25 of the robot unit 1 is activated to drive the link 23 of the robot unit 1 to rotate 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 4. At the same time, the servo motor 25 of the robot unit 1 is activated to drive the link 23 of the robot unit 1 to rotate clockwise, so that the central axis of the leg mechanism 3 of the robot unit 1 is parallel to the lower wall surface.

[0097] (106) Start the servo motor 334 of robot unit 1, drive the drive gear 332 to rotate counterclockwise, the rack 333 drives the telescopic component 32 and the rotating component 34 below and the suction component 35 to move horizontally to the left along the leg axis, the leg mechanism 3 of robot unit 1 shortens, at the same time start the servo motor 334 of robot unit 12 to drive the drive gear 332 to rotate counterclockwise, so that the rack 333 drives the leg connector 31 and the above part to move vertically downward along the leg axis, the robot unit 12 moves downward as a whole, at this time start the servo motor 25 of robot unit 12 to drive the link 23 of robot unit 12 to rotate clockwise, so that the bottom surface of the suction cup 422 of the leg mechanism 4 of robot unit 12 is parallel to the lower wall surface;

[0098] (107) Start the servo motor 25 of robot unit 1 to drive the link 23 of robot unit 1 to rotate clockwise. At the same time, start the servo motor 25 of robot unit 1 to drive the link 23 of robot unit 1 to rotate counterclockwise, so that the bottom surface of the suction cup 422 of the leg mechanism 4 of robot unit 1 overlaps with the lower wall surface. At this time, control the solenoid valve 423 of robot unit 1 to de-energize, and the vacuum pump 5 extracts the air in the suction cup 422. The suction cup 422 of robot unit 1 is pressed and adsorbed onto the lower wall surface.

[0099] (108) The solenoid valve 423 of robot unit 1 is energized, the air inlet and outlet of suction cup 422 of robot unit 1 are connected, the inner cavity of suction cup 422 is open to the atmosphere, suction cup 422 is no longer attached to the suction cup groove 343 of robot unit 1, the connection between robot units 1 is disconnected, at this time the servo motor 25 of robot unit 1 is activated to drive the connecting rod 23 of robot unit 1 to rotate clockwise, so that the bottom surface of the foot suction cup 352 of the leg mechanism 3 of robot unit 1 coincides with the lower wall surface, and robot unit 1 completes the transition between the upper and lower walls; at this time When the solenoid valve 344 of robot unit 12 is de-energized, the vacuum pump 5 extracts the air from the suction cup 352, and the suction cup 352 is pressed and adsorbed onto the lower wall. At this time, the servo motor 25 of robot unit 12 is activated to drive the connecting rod 23 of robot unit 12 to rotate counterclockwise, so that the bottom surface of the foot suction cup 352 of the leg mechanism 3 of robot unit 12 coincides with the lower wall. At this time, the solenoid valve 344 of robot unit 12 is de-energized, the vacuum pump 5 extracts the air from the suction cup 352, and the suction cup 352 is pressed and adsorbed onto the lower wall. Robot unit 12 completes the transition between the upper and lower walls.

[0100] Example 7:

[0101] Figure 10 This is a schematic diagram of the adaptive path direction change of robot unit 1 in this embodiment. Black represents the robot leg mechanism 3 with a revolute joint. The specific implementation process is as follows:

[0102] When the solenoid valve 2423 of the control leg mechanism 24 is energized, the suction cup 2422 loses its adsorption, causing the leg mechanism 24 to unlock. At this time, the output shaft of the servo motor 25 drives the connecting rod 1 to rotate clockwise by a small angle α, causing the robot leg mechanism 24 to lift. At this time, the servo motor 341 in the leg extension component 32 rotates the robot unit 1 clockwise by an angle θ around the central axis of the leg mechanism 3. Then, the output shaft of the servo motor 25 drives the connecting rod 1 to rotate counterclockwise by a small angle α, causing the suction cup 2422 to adhere to the wall surface. The solenoid valve 2423 of the control leg mechanism 24 is de-energized, and the vacuum pump 5 is started to draw air, causing the suction cup 2422 to be pressurized and adsorbed to the wall surface, fixing the leg mechanism 24. Then, the solenoid valve 344 of the control leg mechanism 3 is energized, the suction cup 352 loses its adsorption, and the leg mechanism 3 is released. The output shaft of servo motor 25 drives link 23 to rotate 180° clockwise, causing the robot to somersault forward. The solenoid valve 344 of leg mechanism 3 is de-energized, causing suction cup 352 to adhere to the wall. Leg mechanism 3 is then fixed. The output shaft of servo motor 25 drives link 23 to rotate clockwise by a small angle α, lifting leg mechanism 4. The servo motor 341 inside telescopic component 32 rotates robot unit 1 clockwise by an angle θ around the central axis of leg mechanism 3. At this time, the output shaft of servo motor 25 drives link 23 to rotate counterclockwise by a small angle α, causing suction cup 422 to adhere to the wall. Then, the solenoid valve 423 of leg mechanism 4 is de-energized, and vacuum pump 5 is used to evacuate suction cup 422 to adhere to the wall. Leg mechanism 4 is then fixed, allowing robot unit 1 to adaptively change its path direction.

[0103] In summary, the technical solution of this invention, through the coordinated movement of robot unit 1, enables multiple wall-climbing robots to provide greater flexibility and reliability in complex and dynamic environments, reduce the workload of individual robots, and address 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 document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0105] For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances. When an element is referred to as being "assembled on," "mounted on," "fixed to," or "set on" another element, it may be directly on the other element or there may be an intermediate element present. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible embodiments.

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

[0107] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A somersaulting wall-climbing robot, characterized in that, It includes at least two sets of robot units (1), and the two sets of robot units (1) are detachably connected; The robot unit (1) includes a waist gear mechanism (2), and two legs are fixedly installed at both ends of the waist gear mechanism (2). The leg mechanism (3) and the leg mechanism (4) use the waist gear mechanism (2) as a rotating pair to realize clockwise or counterclockwise flipping operation. The leg mechanism 1 (3) includes a connector 1 (31) fixedly installed at one end of the waist gear mechanism (2). The connector 1 (31) is slidably connected to a telescopic member (32), and an adjustment component (33) is installed between the connector 1 (31) and the telescopic member (32) to make the telescopic member (32) and the connector 1 (31) move closer or further apart. A rotating component (34) is installed at the bottom of the telescopic member (32), and an adsorption component 1 (35) is installed at the bottom of the rotating component (34). The rotating component (34) enables the leg mechanism 1 (3) to rotate around its own axis. The second leg mechanism (4) includes a second connector (41) fixedly installed at the other end of the waist gear mechanism (2). The bottom end of the second connector (41) is equipped with an adsorption component (42). The first adsorption component (35) and the second adsorption component (42) are used to realize the detachable connection between the robot unit (1) and the adsorption fixation when climbing the wall. The rotating assembly (34) includes a servo motor three (341) fixedly connected to the bottom of the telescopic member (32). The output end of the servo motor 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 one (344) is fixedly connected to the other side of the rotating member (342). The suction cup 2 (422) of one group of robot units (1) is attached and fixed in the suction cup groove (343) of another group of robot units (1) to achieve the connection between the two groups of robot units (1).

2. The somersaulting wall-climbing robot according to claim 1, characterized in that: The waist gear mechanism (2) includes a first gear (21) and a second gear (22), which mesh with each other. A connecting rod (23) is rotatably connected to one side of the first gear (21) and the second gear (22), and the two ends of the connecting rod are respectively rotatably connected to the center positions of the first gear (21) and the second gear (22). The second gear (22) is fixedly connected to the side away from the first connecting rod (23) by the second connecting rod (24). The second servo motor (25) is fixedly installed on the second connecting rod (24), and the output shaft of the second servo motor (25) is fixed to the end of the first connecting rod (23). When the second servo motor (25) is started, it will drive the first connecting rod (23) to rotate.

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

4. A somersaulting wall-climbing robot according to claim 2, characterized in that: The adjustment component (33) includes a cavity (331) opened inside the connector (31), and a telescopic component (32) housed inside the cavity (331). A drive gear (332) is rotatably connected to the inner wall of the cavity (331). A rack (333) is meshed with one side of the drive gear (332), and the rack (333) is slidably connected inside the cavity (331). The bottom end of the rack (333) is fixedly connected to the telescopic component (32). A servo motor (334) is fixedly connected to the side wall of connector 1 (31), and the output end of servo motor 1 (334) is fixedly connected to the drive gear (332) through the cavity (331).

5. A somersaulting wall-climbing robot according to claim 4, characterized in that: The adsorption assembly (35) includes a foot shell (351) threadedly connected to the bottom of the rotating part (342), and a suction cup (352) is coaxially mounted inside the foot shell (351). The adsorption component 2 (42) includes a foot shell 2 (421) threadedly connected to the bottom end of the connector 2 (41), a suction cup 2 (422) is coaxially installed inside the foot shell 2 (421), and a solenoid valve 2 (423) is fixedly connected to the outer side wall of the connector 2 (41). Both suction cup one (352) and suction cup two (422) are provided with air inlet and air outlet. When solenoid valve one (344) is energized, the air inlet and air outlet of suction cup one (352) are connected, the inner cavity of suction cup one (352) is connected to the atmosphere, and suction cup one (352) is not fixed. When solenoid valve two (423) is energized, the air inlet and air outlet of suction cup two (422) are connected, the inner cavity of suction cup two (422) is connected to the atmosphere, and suction cup two (422) is not fixed. A vacuum pump (5) is fixedly connected to the side wall of connecting rod 1 (23). The vacuum pump (5) is connected to suction cup 1 (352) and suction cup 2 (422) through a conduit.

6. A method for collaborative external right-angle transition motion of a somersault wall-climbing robot, using the somersault wall-climbing robot according to any one of claims 1 to 5, characterized in that, The specific steps are as follows: (91) In the initial state, both robot units (1) are attached to the outer right-angled upper wall and remain stationary. At this time, the solenoid valve (344) controlling robot unit (1) is energized, so that the air inlet and outlet of suction cup (352) are connected, and the inner cavity of suction cup (352) is connected to the atmosphere. The suction cup (352) fails to attach, so that the leg mechanism (3) of robot unit (1) is unlocked. At this time, the servo motor (25) of robot unit (1) is activated to drive the connecting rod (23) to rotate counterclockwise by α degrees, which drives the leg mechanism (3) of robot unit (1) to lift up. At the same time, the solenoid valve (344) of robot unit (1) is energized, and the suction cup (352) of robot unit (1) fails to attach, thus unlocking the leg mechanism of robot unit (1). Unlock (3), then start the servo motor (25) of robot unit (1) 2, which drives the linkage (23) of robot unit (1) 2 to rotate clockwise by β degrees, so that the leg mechanism (3) of robot unit (1) 2 is lifted up. At this time, the bottom surface of the suction cup (352) at the foot end of the leg mechanism (3) of robot unit (1) 1 coincides with the suction cup groove (343) on the rotating part (342) of the leg mechanism (3) of robot unit (1) 2. At this time, start the vacuum pump (5) to pump air, and cut off the power to the leg mechanism (3) of robot unit (1) 1, so that the suction cup (352) of robot unit (1) 1 is pressed and adsorbed on the leg mechanism (3) of robot unit (1) 2, thus completing the combination between the two robot units (1); (92) Start the servo motor 2 (25) of robot unit (1) to drive the link 1 (23) of robot unit (1) to rotate 90-α degrees clockwise, so that the central axis of the leg mechanism 1 (3) of robot unit (1) is collinear with the central axis of its own leg mechanism 2 (4). At this time, start the servo motor 2 (25) of robot unit (1) to drive the link 1 (23) of robot unit (1) to rotate 90-β degrees clockwise, so that the central axis of the leg mechanism 1 (3) of robot unit (1) is collinear with the central axis of its own leg mechanism 2 (4). At this time, robot unit (1) is driven to the outside of the wall. (93) Start the servo motor 2 (25) of robot unit (1) 2 to drive the linkage 1 (23) of robot unit (1) 2 to rotate 45 degrees clockwise, so that the central axis of the leg mechanism 1 (3) of robot unit (1) 2 is parallel to the outer right angle upper wall, control the servo motor 1 (334) of robot unit (1) 2 to drive the drive gear (332) to rotate clockwise, and the rack (333) drives the telescopic part (32) of robot unit (1) 2 and its lower rotating components (34) and adsorption components 1 (35) to move up along the leg axis. (94) Control the servo motor (334) of robot unit (1) to drive the drive gear (332) to rotate clockwise. The rack (333) drives the telescopic component (32) and its lower rotating components (34) and adsorption components (35) to move downward along the leg axis. The leg mechanism (3) of robot unit (1) extends. Then control the servo motor (25) of robot unit (1) to drive the connecting rod of robot unit (1) to rotate clockwise by 45 degrees, so that the central axis of the leg mechanism (4) of robot unit (1) is perpendicular to the outer right-angle side wall. Vertically, the drive gear (332) is driven to rotate by the servo motor (334) of the robot unit (1) 2, thereby adjusting the distance between the suction cup (422) of the leg mechanism (4) of the robot unit (1) 2 and the wall by adjusting the extension and shortening 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) 1 is de-energized, the vacuum pump (5) extracts the air in the suction cup (422), and the suction cup (422) of the leg mechanism (4) of the robot unit (1) 2 is pressed and adsorbed on the outer right-angle side wall. (95) When the solenoid valve (423) of the robot unit (1) is energized, the suction cup (422) of the robot unit (1) fails to adhere, and the leg mechanism (4) of the robot unit (1) is unlocked. At this time, the servo motor (25) of the robot unit (1) is activated to drive the link (23) of the robot unit (1) to rotate 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 (4). At this time, the servo motor (25) of the robot unit (1) is activated to drive the link (23) of the robot unit (1) to rotate 90 degrees clockwise, so that the central axis of the leg mechanism (3) of the robot unit (1) is parallel to the outer right-angle side wall. (96) The servo motor (334) of the robot unit (1) drives the drive gear (332) to rotate counterclockwise, thereby causing the rack (333) of the robot unit (1) to move the telescopic component (32) and the rotating component (34) and the adsorption component (35) below it to move up along the leg axis, and the leg mechanism (3) of the robot unit (1) shortens. At this time, the servo motor (334) of the robot unit (1) drives the drive gear (332) to rotate counterclockwise, and the rack (333) of the robot unit (1) moves the telescopic component (32) and the rotating component (34) and the adsorption component (35) below it to move to the left along the leg axis, and the leg mechanism (3) of the robot unit (1) shortens. (97) Start the servo motor 2 (25) of robot unit (1) to drive the link 1 (23) of robot unit (1) to rotate clockwise. At the same time, start the servo motor 2 (25) of robot unit (1) to drive the link 1 (23) of robot unit (1) to rotate clockwise, so that the suction cup 2 (422) of the leg mechanism 2 (4) of robot unit (1) overlaps with the outer right angle side wall. At this time, the solenoid valve 2 (423) of robot unit (1) is de-energized, the vacuum pump (5) extracts the air in the suction cup 2 (422), and the suction cup 2 (422) is pressed and adsorbed on the outer right angle side wall. (98) When the solenoid valve (344) of robot unit (1) is energized, the air inlet and outlet are connected, the inner cavity of suction cup (352) of robot unit (1) is connected to the atmosphere, and suction cup (352) is no longer attached to the suction cup groove (343) of robot unit (1) II. The connection between robot units (1) is disconnected. At this time, the servo motor (25) of robot unit (1) I is activated to drive the connecting rod (23) of robot unit (1) II to rotate clockwise, so that the bottom surface of suction cup (352) of the leg mechanism (3) of robot unit (1) II coincides with the side wall surface. When the solenoid valve (344) of robot unit (1) I is de-energized, the vacuum pump (5) extracts the suction cup. The air inside the first (352) of the robot unit (1) is pressed and adsorbed onto the outer right-angle side wall, and the robot unit (1) completes the transition to the outer right-angle wall; at the same time, the servo motor (25) of the second robot unit (1) is activated to drive the connecting rod (23) of the second robot unit (1) to rotate counterclockwise, so that the bottom surface of the suction cup (352) of the leg mechanism (3) of the second robot unit (1) overlaps with the side wall. At this time, the solenoid valve (344) of the second robot unit (1) is de-energized, and the vacuum pump (5) extracts the air inside the suction cup (352), and the suction cup (352) is pressed and adsorbed onto the outer right-angle side wall, and the robot unit (1) completes the transition to the outer right-angle wall.

7. A method for collaborative vertical wall-climbing robot movement using a somersaulting wall-climbing robot as described in any one of claims 1 to 5, characterized in that... The specific steps are as follows: (101) In the initial state, the two robot units (1) are attached to the upper wall and remain stationary. At this time, the solenoid valve (344) controlling robot unit (1) is energized, the air inlet and outlet of the suction cup (352) of robot unit (1) are connected, the inner cavity of suction cup (352) is connected to the atmosphere, the suction cup (352) fails to attach, and the leg mechanism (3) of robot unit (1) is unlocked. At this time, the servo motor (25) of robot unit (1) is activated, driving the linkage (23) to rotate counterclockwise by α degrees, which drives the leg mechanism (3) of robot unit (1) to lift upward. At the same time, the solenoid valve (344) of robot unit (1) is energized, the suction cup (352) fails to attach, and robot unit (1) The leg mechanism 1 (3) of the second robot unit (1) is unlocked, and the servo motor 2 (25) of the second robot unit (1) is started to drive the linkage 1 (23) to rotate clockwise by β degrees, so that the leg mechanism 1 (3) of the second robot unit (1) is lifted up. The bottom surface of the suction cup 1 (352) of the leg mechanism 1 (3) of the first robot unit (1) is concentrically aligned 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 pump air, and the power of the leg mechanism 1 (3) of the first robot unit (1) is cut 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), thus completing the combination between the two robot units (1). (102) Start the servo motor 2 (25) of robot unit (1) to drive the link 1 (23) of robot unit (1) to rotate 90-a degrees clockwise, so that the central axis of the leg mechanism 1 (3) of robot unit (1) is collinear with the central axis of its own leg mechanism 2 (4). At this time, start the servo motor 2 (25) of robot unit (1) to drive the link 1 (23) of robot unit (1) to rotate clockwise, so that the leg mechanism 1 (3) of robot unit (1) flips to the outside of the upper wall. (103) Start the servo motor (334) of robot unit (1) to drive the drive gear (332) to rotate clockwise, thereby driving the telescopic component (32) and the rotating component (34) and the adsorption component (35) below it to move downward along the leg axis direction through the rack (333) of robot unit (1), and the leg mechanism (3) of robot unit (1) extends. At the same time, start the servo motor (334) of robot unit (1) to drive the drive gear (332) to rotate clockwise, so that the rack (333) drives the telescopic component (32) and the rotating component (34) and the adsorption component (35) below it to move downward along the leg axis direction, and the leg mechanism (3) of robot unit (1) extends. (104) Start the servo motor 2 (25) of robot unit (1) to drive the link 1 (23) of robot unit (1) to rotate clockwise. At the same time, start the servo motor 2 (25) of robot unit (1) to drive the link 1 (23) of 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 2 (4) of robot unit (1) overlaps with the lower wall surface. At this time, control the solenoid valve 2 (423) of robot unit (1) to de-energize, and the vacuum pump (5) extracts the air in the suction cup 2 (422). The suction cup 2 (422) of robot unit (1) is pressed and adsorbed onto the lower wall surface. (105) The solenoid valve 2 (423) of the robot unit (1) is energized, causing the suction cup 2 (422) at the foot end of the leg mechanism 2 (4) to fail to adhere, and the leg mechanism 2 (4) of the robot unit (1) is unlocked. At this time, the servo motor 2 (25) of the robot unit (1) is activated to drive the link 1 (23) of the robot unit (1) to rotate 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 the same time, the servo motor 2 (25) of the robot unit (1) is activated to drive the link 1 (23) of the robot unit (1) to rotate clockwise, so that the central axis of the leg mechanism 1 (3) of the robot unit (1) is parallel to the lower wall surface. (106) Start the servo motor (334) of robot unit (1) to drive the drive gear (332) to rotate counterclockwise. The rack (333) drives the telescopic part (32) and the rotating component (34) below it and the suction component (35) to move horizontally to the left along the leg axis. The leg mechanism (3) of robot unit (1) shortens. At the same time, start the servo motor (334) of robot unit (1) to drive the drive gear (332) to rotate counterclockwise. This causes the rack (333) to drive the leg connector (31) and the part above it to move vertically downward along the leg axis. The robot unit (1) moves downward as a whole. At this time, start the servo motor (25) of robot unit (1) to drive the connecting rod (23) of robot unit (1) to rotate clockwise. This causes the suction cup (422) of the leg mechanism (4) of robot unit (1) to be parallel to the lower wall. (107) Start the servo motor 2 (25) of robot unit (1) to drive the link 1 (23) of robot unit (1) to rotate clockwise, and at the same time start the servo motor 2 (25) of robot unit (1) to drive the link 1 (23) of robot unit (1) to rotate counterclockwise, so that the bottom surface of the suction cup 2 (422) of the leg mechanism 2 (4) of robot unit (1) overlaps with the lower wall surface. At this time, the solenoid valve 2 (423) of robot unit (1) is de-energized, the vacuum pump (5) extracts the air in the suction cup 2 (422), and the suction cup 2 (422) of robot unit (1) is pressed and adsorbed onto the lower wall surface; (108) When the solenoid valve 2 (423) of robot unit (1) is energized, the air inlet and outlet of suction cup 2 (422) of robot unit (1) are connected, the inner cavity of suction cup 2 (422) is connected to the atmosphere, and suction cup 2 (422) is no longer attached to the suction cup groove (343) of robot unit (1), the connection between robot units (1) is disconnected. At this time, the servo motor 2 (25) of robot unit (1) is activated to drive the connecting rod 1 (23) of robot unit (1) to rotate clockwise, so that the bottom surface of the foot suction cup 1 (352) of the leg mechanism 1 (3) of robot unit (1) overlaps with the lower wall surface, and robot unit (1) completes the transition between the upper and lower walls; at this time, the control When the solenoid valve 1 (344) of robot unit (1) 2 is de-energized, the vacuum pump (5) extracts the air from the suction cup 1 (352), and the suction cup 1 (352) is pressed and adsorbed onto the lower wall. At this time, the servo motor 2 (25) of robot unit (1) 2 is activated to drive the connecting rod 1 (23) of robot unit (1) 2 to rotate counterclockwise, so that the bottom surface of the foot suction cup 1 (352) of the leg mechanism 1 (3) of robot unit (1) 2 coincides with the lower wall. At this time, the solenoid valve 1 (344) of robot unit (1) 2 is de-energized, the vacuum pump (5) extracts the air from the suction cup 1 (352), and the suction cup 1 (352) is pressed and adsorbed onto the lower wall. Robot unit (1) 2 completes the transition between the upper and lower walls.

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