Full-drive multi-degree-of-freedom foot type wall-climbing robot advancing system

Abstract

The invention discloses a full-drive multi-degree-of-freedom foot type wall-climbing robot advancing system, relates to the technical field of foot type adsorption type robots, solves the problems that an adsorption type foot type robot is limited in maneuvering ability and weak in wall-crossing transfer ability during wall climbing, and comprises a trunk module, a multi-degree-of-freedom foot assembly, an air path system and a main control module. A multi-degree-of-freedom foot assembly used for supporting and walking is installed at each corner of the trunk module, the main control module is used for controlling the air path system and the multi-degree-of-freedom foot assemblies to operate, and the air path system is used for achieving the effect that the multiple multi-degree-of-freedom foot assemblies are sucked to the ground. The robot can have a larger spanning step length, and has a more flexible steering mode; when transferring across the wall surfaces, at least three suction cups are ensured to be stressed at the same time, the safety of transferring the wall surfaces is greatly improved, and meanwhile, the transferring has no requirement on the included angle between the wall surfaces.

Description

Technical Field

[0001] The present invention relates to the technical field of foot-type suction robots, and in particular to a full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system. Background Art

[0002] With the development of science and technology in my country, the robotics industry has developed rapidly in recent years. Among them, legged robots are in a rising stage with continuous technological innovation, continuous expansion of application scenarios, and steady growth in market scale. Their application areas cover industrial production, medical and health care, home services, commercial services and other industries. They have a broad market and play an increasingly important role in the global science and technology and industrial development process.

[0003] However, the development of legged robots also faces some challenges. At this stage, most legged robot products can only move in flat scenes and perform relatively routine tasks. In some scenes that require complex working space, such as the inspection and maintenance of large oil storage tanks and the exterior walls of high-rise buildings, or exploration operations on the top of mines, adsorption-type legged robots with wall and ceiling working capabilities are needed, but they have exposed serious deficiencies in actual applications. On the one hand, this type of robot lacks flexibility, has a slow turning speed when moving on the wall, and is difficult to reach the designated position quickly and accurately; on the other hand, its application scenarios are limited. Due to factors such as adsorption methods and energy supply, it can only work on surfaces of specific materials and specific structures, and cannot meet the complex and changeable actual working needs, which greatly hinders the in-depth application and promotion of legged robots in more fields. Summary of the invention

[0004] In view of the above-mentioned problems that the adsorption-type legged robot has limited maneuverability and weak cross-wall transfer ability when climbing walls, the purpose of the present invention is to provide a full-drive multi-degree-of-freedom legged wall-climbing robot travel system.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] A full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system, which includes: a trunk module 1, a multi-degree-of-freedom foot component 2, an air circuit system 3 and a main control module 4, each corner of the trunk module 1 is installed with a multi-degree-of-freedom foot component 2 for support and walking, the trunk module 1 includes: an upper fuselage plate 101, a lower fuselage plate 102 and a power supply base plate 104 arranged in sequence from top to bottom, the upper fuselage plate 101, the lower fuselage plate 102 and the power supply base plate 104 are parallel to each other; the main control module 4 is installed on the upper surface of the upper fuselage plate 101; the air circuit system 3 is installed on the upper surface of the lower fuselage plate 102; the main control module 4 is used to control the operation of the air circuit system 3 and the multi-degree-of-freedom foot component 2, and the air circuit system 3 is used to enable multiple multi-degree-of-freedom foot components 2 to absorb the ground.

[0007] The above-mentioned full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system, wherein the air path system 3 includes: multiple suction cups 305; the multi-degree-of-freedom foot component 2 includes: a thigh component 201, a first calf component 202A, a second calf component 202B, a foot end component 203 and four axis systems 24, the front end of the thigh component 201 and a corner of the torso module 1 are rotatably connected via a vertically arranged axis system 24, the rear end of the thigh component 201 and the front end of the first calf component 202A are rotatably connected via a horizontally arranged axis system 24, the rear end of the first calf component 202A and the front end of the second calf component 202B are rotatably connected via a horizontally arranged axis system 24, the rear end of the second calf component 202B and the upper end of the foot end component 203 are rotatably connected via a horizontally arranged axis system 24, and a suction cup 305 is installed at the lower end of the foot end component 203.

[0008] The above-mentioned full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system, wherein the air path system 3 also includes: a vacuum pump 301, a rubber gasket 302, a manifold 303, a solenoid valve 304 and an air path pipeline, the vacuum pump 301 is installed on the upper surface of the lower plate 102 of the fuselage, a rubber gasket 302 is installed between the vacuum pump 301 and the lower plate 102 of the fuselage, the manifold 303 is installed on the lower plate 102 of the fuselage, the vacuum pump 301 and the air inlet of the manifold 303 are connected through the air path pipeline, each air outlet of the manifold 303 is connected to a suction cup 305 through a pipeline, and a plurality of solenoid valves 304 are installed on the manifold 303, and each solenoid valve 304 is used to control the opening and closing of a suction cup 305.

[0009] The above-mentioned full-drive multi-degree-of-freedom legged wall-climbing robot travel system, wherein the torso module 1 also includes: a power supply bracket 103, the body upper panel 101 and the power supply bottom panel 104 are connected through two of the power supply brackets 103; the main control module 4 includes: a Raspberry Pi 4b main control board 401, a power management module 402, a 12V power supply 403 and an I2C to 16-channel PWM module 404, the Raspberry Pi 4b main control board 401, the power management module 402 and the I2C to 16-channel PWM module 404 are all installed on the body upper panel 101, and the 12V power supply 403 is installed between the two power supply brackets 103.

[0010] The above-mentioned full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system, wherein the multi-degree-of-freedom foot component 2 also includes: a servo 25, and the rear end of the first calf component 202A, the rear end of the second calf component 202B and the front and rear ends of the thigh component 201 are all equipped with servos 25, each servo 25 is located at the end of an axis system 24, the servo 25 located at the front end of the thigh component 201 is used to drive the thigh component 201 to rotate around a corner of the torso module 1, the servo 25 located at the rear end of the thigh component 201 is used to drive the first calf component 202A to rotate around the rear end of the thigh component 201, the servo 25 located at the rear end of the first calf component 202A is used to drive the second calf component 202B to rotate around the rear end of the first calf component 202A, and the servo 25 located at the rear end of the second calf component 202B is used to drive the foot end component 203 to rotate around the rear end of the second calf component 202B.

[0011] The above-mentioned full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system, wherein each of the axis systems 24 includes: four first bolts 207; the output end of the servo 25 located at the front end of the thigh component 201 is limited by the four first bolts 207 located on the fuselage upper plate 101; the output end of the servo 25 located at the rear end of the thigh component 201 is limited by the four first bolts 207 located on the first calf component 202A; the output end of the servo 25 located at the rear end of the first calf component 202A is limited by the four first bolts 207 located on the second calf component 202B; the output end of the servo 25 located at the rear end of the second calf component 202B is limited by the four first bolts 207 located on the foot end component 203.

[0012] The above-mentioned full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system, wherein each of the axis systems 24 also includes: two flange bearings 204, a bearing gasket 205, a second bolt 206 and a nut 208; the two flange bearings 204, a bearing gasket 205 and a nut 208 are sequentially installed on the second bolt 206; the front end of the thigh component 201 and a corner of the torso module 1 are rotatably connected by a second bolt 206 and two flange bearings 204, the rear end of the thigh component 201 and the front end of the first calf component 202A are rotatably connected by a second bolt 206 and two flange bearings 204, the rear end of the first calf component 202A and the front end of the second calf component 202B are rotatably connected by a second bolt 206 and two flange bearings 204, and the rear end of the second calf component 202B and the upper end of the foot end component 203 are rotatably connected by a second bolt 206 and two flange bearings 204.

[0013] The above-mentioned full-drive multi-degree-of-freedom legged wall-climbing robot travel system, wherein the torso module 1 also includes: a bottom plate gasket 105 and a fuselage shell 106, the lower end of the fuselage shell 106 is connected to the outer edge of the fuselage upper plate 101, and a bottom plate gasket 105 is installed between each thigh component 201 and the upper surface of the fuselage lower plate 102.

[0014] In the above-mentioned full-drive multi-DOF legged wall-climbing robot travel system, a plurality of weight-reducing holes are provided on the upper fuselage plate 101 and the lower fuselage plate 102, which can be used for wiring.

[0015] The above-mentioned full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system, among which, also includes: a cleaning module 5, which is installed on the lower surface of the power base plate 104; the cleaning module 5 includes: a roller brush bracket 501, a bearing 502, a roller brush 503, a brush 504, a motor 505 and an atomizer module 506, and four roller brush brackets 501 are installed on the lower surface of the power base plate 104, and each roller brush bracket 501 is installed with a bearing 502, and the two ends of the brush 504 are respectively connected to the two roller brush brackets 501 through bearings 502 is rotatably connected; both ends of the roller brush 503 are rotatably connected to the other two roller brush brackets 501 through bearings 502; the brush 504 and the roller brush 503 are arranged parallel to each other, and the atomizer module 506 is installed on the lower surface of the power base plate 104 and is located above the roller brush 503. A motor 505 is installed at the end of the brush 504 and the roller brush 503, and the two motors 505 are respectively used to drive the brush 504 and the roller brush 503 to rotate, and the two motors 505 and the atomizer module 506 are connected to the main control module 4 through lines.

[0016] Due to the adoption of the above technology, the present invention has the following positive effects compared with the prior art:

[0017] (1) In the present invention, when the full-drive multi-degree-of-freedom legged wall-climbing robot travel system is moving on a single vertical wall, it can have a larger stride length and a more flexible steering method, can achieve omnidirectional full drive, and the maneuverability of moving on the wall is greatly improved;

[0018] (2) In the present invention, when the full-drive multi-degree-of-freedom legged wall-climbing robot travel system transfers across the wall, due to the design form of redundant degrees of freedom, there may still be multiple sets of solutions when the end effector is fixed, thereby ensuring that at least three suction cups are subjected to force at the same time, greatly improving the safety during wall transfer, that is, only one leg is lifted each time to complete the switch from one wall to another, and the transfer between the above-mentioned walls has no requirements on the angle between the walls;

[0019] (3) In the present invention, the full-drive multi-DOF legged wall-climbing robot travel system can achieve obstacle avoidance, oddity avoidance and other operations by adjusting the body configuration while keeping the end effector (i.e., suction cup) unchanged, and can complete more complex actions and path planning;

[0020] (4) In the present invention, the full-drive multi-degree-of-freedom legged wall-climbing robot travel system has low cost, small deadweight, adopts a large number of integrated structural designs, has high equipment integration, complete electronic design, strong board expandability, and a trunk module with a certain load-bearing capacity. Therefore, it has a wide range of applicable fields, including but not limited to tile cleaning, high-rise rescue, military and other uses. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of a full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system of the present invention.

[0022] Figure 2 It is a structural schematic diagram of a trunk module of a full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system of the present invention.

[0023] Figure 3 It is a structural schematic diagram of a multi-degree-of-freedom foot component of a full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system of the present invention.

[0024] Figure 4 It is a schematic diagram of the assembly of the first axis system of the foot component of the traveling system of a full-drive multi-degree-of-freedom foot-type wall-climbing robot of the present invention.

[0025] Figure 5 It is a schematic diagram of the assembly of the second axis system of the foot component of the traveling system of a full-drive multi-degree-of-freedom foot-type wall-climbing robot of the present invention.

[0026] Figure 6 It is a schematic diagram of the assembly of the third axis system of the foot component of the traveling system of a full-drive multi-degree-of-freedom foot-type wall-climbing robot of the present invention.

[0027] Figure 7 It is a schematic diagram of the assembly of the fourth axis system of the foot component of the traveling system of a full-drive multi-degree-of-freedom foot-type wall-climbing robot of the present invention.

[0028] Figure 8 It is a structural schematic diagram of the air path system of a full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system of the present invention.

[0029] Fig. 9 It is a structural schematic diagram of a main control module of a full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system of the present invention.

[0030] Fig.10The electronic design diagram of the traveling system of a full-drive multi-degree-of-freedom foot-type wall-climbing robot of the present invention is shown in FIG.

[0031] Fig.11 It is a schematic diagram of the assembly of an extended cleaning module of a full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system of the present invention.

[0032] In the attached figure: 1, trunk module; 2, multi-degree-of-freedom foot assembly; 3, air circuit system; 4, main control module; 5, cleaning module; 24, shaft system; 25, servo; 101, upper fuselage plate; 102, lower fuselage plate; 103, power supply bracket; 104, power supply bottom plate; 105, bottom plate gasket; 106, fuselage shell; 201, thigh component; 202A, first calf component; 202B, second calf component; 203, foot end component; 204, flange bearing; 205, bearing Gasket; 206, second bolt; 207, first bolt; 208, nut; 301, vacuum pump; 302, rubber gasket; 303, manifold; 304, solenoid valve; 305, suction cup; 401, Raspberry Pi 4b main control board; 402, power management module; 403, 12V power supply; 404, I2C to 16-channel PWM module; 501, roller brush bracket; 502, bearing; 503, roller brush; 504, brush; 505, motor; 506, atomizer module. DETAILED DESCRIPTION

[0033] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0034] Please refer to Figures 1 to 11 As shown, a fully driven multi-degree-of-freedom foot-type wall-climbing robot travel system is shown, which includes:

[0035] The trunk module 1 is arranged in three layers, including: an upper fuselage plate 101, a lower fuselage plate 102, two power supply brackets 103, a power supply bottom plate 104, four bottom plate gaskets 105 and a fuselage shell 106. The fuselage shell 106 is directly mounted on the upper fuselage plate 101 to protect the internal circuits and components. The upper fuselage plate 101 and the lower fuselage plate 102 are connected through the first joint servo 25, and the bottom plate gasket 105 is used to support the lower fuselage plate 102 and connect with the shaft system 24. The two power supply brackets 103 are arranged in parallel, and two installation positions are provided on the upper and lower sides, which are installed on the lower fuselage plate 102 and the power supply bottom plate 104 respectively;

[0036] The multi-degree-of-freedom foot assembly 2 has four groups, including: a thigh component 201, two calf components 202, a foot end component 203, four shaft systems 24, and four steering gears 25;

[0037] The gas circuit system 3 includes: a vacuum pump 301, four rubber gaskets 302, a manifold 303, four solenoid valves 304, four suction cups 305, a quick-connect connector, a 5mm inner diameter gas pipe, and a 4mm inner diameter gas pipe;

[0038] The main control module 4 includes: a Raspberry Pi 4b main control board 401, a power management module 402, a 12V power supply 403, and an I2C to 16-channel PWM module 404. The main control module 4 is connected to the multi-degree-of-freedom foot component 2 and the gas path module 3 by electrical signals and completes the command action.

[0039] Further, in a preferred embodiment, the multi-degree-of-freedom foot component 2 is connected to the upper fuselage plate 101 and the lower fuselage plate 102 of the torso module respectively through the first joint servo 25; wherein, the first joint servo 25 is mounted at the mounting slot A of the thigh component 201, and is connected to the torso module 1 through the shaft system 24; the second joint servo 25 is mounted at the mounting slot B of the thigh component 201, and is connected to the calf component 202 through the shaft system 24; the third joint servo 25 is mounted at the mounting slot of the calf component 202A, and is connected to the calf component 202B through the shaft system 24; the fourth joint servo 25 is mounted at the mounting slot of the calf component 202B, and is connected to the foot end component 203 through the shaft system 24.

[0040] Further, in a preferred embodiment, each shaft system 24 includes: two flange bearings 204, a bearing gasket 205, a second bolt 206 (specification M3×20), four first bolts 207 (specification M3×8), and an M3 nut 208. The two flange bearings 204 are closely fitted back to back, and the two flange rings are installed in the installation grooves of the fuselage lower plate 102 and the bottom plate gasket 105 with the two flange rings facing outwards, and the bolt head of the second bolt 206 is embedded in the groove A of the thigh component 201, and the second bolt 206 is left about 7mm outwards, and the flange bearing 204 is sleeved on the second bolt 206, and the inner ring of the bearing on one side is pressed against the protruding position C of the thigh component 201, and the bearing gasket 205 is sleeved on the other side, and the bearing gasket 205 is pressed against the inner ring of the bearing on the same side. Sleeve the nut 208 and tighten it. The other end of the shaft system 24 is connected to the fuselage upper plate 101 through the steering wheel of the first joint steering gear 25, and is fastened and assembled through four groups of first bolts 207 to complete the installation of the first shaft system 24.

[0041] Further, in a preferred embodiment, two flange bearings 204 are installed in the installation groove of the calf component 202A, with the flange facing outward, and the bolt head of the second bolt 206 is embedded in the groove B of the thigh component 201, and the second bolt 206 is left about 7 mm outward. The flange bearing 204 is sleeved on the second bolt 206, and the inner ring of the bearing on one side is pressed against the protruding position D of the thigh component 201, and the bearing gasket 205 is sleeved on the other side, and the bearing gasket 205 is pressed against the inner ring of the bearing on the same side, and the nut 208 is sleeved and tightened; the other end of the shaft system 24 is connected to the calf component 202A by the steering disc of the second joint steering gear 25, and the fastening assembly is completed by four sets of first bolts 207, and the installation of the second shaft system 24 is completed.

[0042] Furthermore, in a preferred embodiment, two flange bearings 204 are installed in the installation groove of the calf component 202B, with the flange facing outward, and the bolt head of the second bolt 206 is embedded in the groove of the calf component 202A, and the second bolt 206 is left about 7 mm outward. The flange bearing 204 is sleeved on the second bolt 206, and the inner ring of the bearing on one side is pressed against the raised position of the calf component 202A, and the bearing gasket 205 is sleeved on the other side, and the bearing gasket 205 is pressed against the inner ring of the bearing on the same side, and the nut 208 is sleeved and tightened; the other end of the shaft system 24 is connected to the calf component 202B by the steering disc of the third joint servo 25, and the fastening assembly is completed by four sets of first bolts 207, and the installation of the third shaft system 24 is completed.

[0043] Further, in a preferred embodiment, two flange bearings 204 are installed in the installation groove of the foot end component 203, with the flange facing outward, and the bolt head of the second bolt 206 is embedded in the groove of the calf component 202B, and the second bolt 206 is left about 7mm outward. The flange bearing 204 is sleeved on the second bolt 206, and the inner ring of the bearing on one side is pressed against the raised position of the calf component 202B, and the bearing gasket 205 is sleeved on the other side, and the bearing gasket 205 is pressed against the inner ring of the bearing on the same side. Put on the nut 208 and tighten it. The other end of the shaft system 24 is connected to the foot end component 203 by the steering disc of the fourth joint steering gear 25, and the fastening assembly is completed by four sets of first bolts 207, and the installation of all shaft systems 24 is completed.

[0044] Furthermore, in a preferred embodiment, the vacuum pump 301 of the air circuit system 3 is installed on the corresponding hole position of the lower plate 102 of the fuselage, and the rubber gasket 302 is installed between the vacuum pump 301 and the lower plate 102 of the fuselage to reduce the impact of the vacuum pump vibration on the whole. Four solenoid valves 304 are installed on the manifold 303, and the manifold 303 is installed on the lower plate 102 of the fuselage. The vacuum pump 301 is connected to the air pipe with an inner diameter of 5mm, and the air pipe with an inner diameter of 4mm is connected to the air inlet of the manifold 303 through the quick plug connector. Four 4mm air pipes are connected to the four air outlets of the manifold 303 and connected to the suction cup 305.

[0045] Furthermore, in a preferred embodiment, the 12V power supply 403 of the main control module 4 outputs a 5V voltage to the main control board 401 and the servos through the power management module 402, and the main control board 401 outputs an I2C signal to the I2C to 16-channel PWM module 404, thereby achieving full drive of 16 servos.

[0046] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation and protection scope of the present invention.

[0047] The present invention also has the following implementation modes based on the above:

[0048] In a further embodiment of the present invention, specific implementation scheme 1: combining Figures 1 to 9 As shown, the present invention provides a full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system, including a trunk module 1, which is arranged in three layers, including: an upper fuselage plate 101, a lower fuselage plate 102, two power supply brackets 103, a power supply bottom plate 104, four bottom plate gaskets 105 and a fuselage shell 106. The fuselage shell 106 is directly mounted on the upper fuselage plate 101 to protect the internal circuits and components. The upper fuselage plate 101 and the lower fuselage plate 102 are connected by a first joint servo 25, and the bottom plate gasket 105 is used to support the lower fuselage plate 102 to connect with the shaft system 24. The two power supply brackets 103 are arranged in parallel, and two installation positions are provided on the upper and lower sides, which are correspondingly installed on the lower fuselage plate 102 and the power supply bottom plate 104;

[0049] The multi-degree-of-freedom foot assembly 2 has four groups, including: a thigh component 201, two calf components 202, a foot end component 203, four shaft systems 24, and four steering gears 25;

[0050] The gas circuit system 3 includes: a vacuum pump 301, four rubber gaskets 302, a manifold 303, four solenoid valves 304, four suction cups 305, a quick-connect connector, a 5mm inner diameter gas pipe, and a 4mm inner diameter gas pipe;

[0051] The main control module 4 includes: a Raspberry Pi 4b main control board 401, a power management module 402, a 12V power supply 403, and an I2C to 16-channel PWM module 404. The main control module 4 is connected to the multi-degree-of-freedom foot component 2 and the gas path module 3 by electrical signals and completes the command action.

[0052] In a further embodiment of the present invention, the multi-degree-of-freedom foot component 2 is respectively connected to the upper fuselage plate 101 and the lower fuselage plate 102 of the torso module through the first joint servo 25; wherein, the first joint servo 25 is mounted at the mounting slot A of the thigh component 201, and is connected to the torso module 1 through the shaft system 24; the second joint servo 25 is mounted at the mounting slot B of the thigh component 201, and is connected to the calf component 202 through the shaft system 24; the third joint servo 25 is mounted at the mounting slot of the first calf component 202A, and is connected to the second calf component 202B through the shaft system 24; the fourth joint servo 25 is mounted at the mounting slot of the second calf component 202B, and is connected to the foot end component 203 through the shaft system 24.

[0053] In a further embodiment of the present invention, each shaft system 24 includes: two flange bearings 204, a bearing gasket 205, an M3*20 second bolt 206, four M3*8 first bolts 207, and an M3 nut 208. The two flange bearings 204 are closely fitted back to back, and the two flange rings are installed in the installation grooves of the fuselage lower plate 102 and the bottom plate gasket 105 with the two flange rings facing outwards, and the bolt head of the second bolt 206 is embedded in the groove A of the thigh component 201, and the second bolt 206 is left about 7mm outwards, and the flange bearing 204 is sleeved on the second bolt 206, and the inner ring of the bearing on one side is pressed against the protruding position C of the thigh component 201, and the bearing gasket 205 is sleeved on the other side, and the bearing gasket 205 is pressed against the inner ring of the bearing on the same side. Sleeve the nut 208 and tighten it. The other end of the shaft system 24 is connected to the fuselage upper plate 101 through the steering wheel of the first joint steering gear 25, and is fastened and assembled through four groups of first bolts 207 to complete the installation of the first shaft system 24.

[0054] In a further embodiment of the present invention, two flange bearings 204 are installed in the installation groove of the first calf component 202A, with the flange facing outward, and the bolt head of the second bolt 206 is embedded in the groove B of the thigh component 201, and the second bolt 206 is left about 7mm outward. The flange bearing 204 is sleeved on the second bolt 206, and the inner ring of the bearing on one side is pressed against the protruding position D of the thigh component 201, and the bearing gasket 205 is sleeved on the other side, and the bearing gasket 205 is pressed against the inner ring of the bearing on the same side. Put on the nut 208 and tighten it. The other end of the shaft system 24 is connected to the first calf component 202A by the steering disc of the second joint steering gear 25, and the fastening assembly is completed by four sets of first bolts 207, and the installation of the second shaft system 24 is completed.

[0055] In a further embodiment of the present invention, two flange bearings 204 are installed in the installation groove of the second shank component 202B, with the flange facing outward, and the bolt head of the second bolt 206 is embedded in the groove of the first shank component 202A, and the second bolt 206 is left about 7mm outward. The flange bearing 204 is sleeved on the second bolt 206, and the inner ring of the bearing on one side is pressed against the raised position of the first shank component 202A, and the bearing gasket 205 is sleeved on the other side, and the bearing gasket 205 is pressed against the inner ring of the bearing on the same side. Put on the nut 208 and tighten it. The other end of the shaft system 24 is connected to the second shank component 202B by the steering disc of the third joint steering gear 25, and the fastening assembly is completed by four sets of first bolts 207, and the installation of the third shaft system 24 is completed.

[0056] In a further embodiment of the present invention, two flange bearings 204 are installed in the installation groove of the foot end component 203, with the flange facing outward, and the bolt head of the second bolt 206 is embedded in the groove of the second shank component 202B, and the second bolt 206 is left about 7mm outward. The flange bearing 204 is sleeved on the second bolt 206, and the inner ring of the bearing on one side is pressed against the raised position of the second shank component 202B, and the bearing gasket 205 is sleeved on the other side, and the bearing gasket 205 is pressed against the inner ring of the bearing on the same side. Put on the nut 208 and tighten it. The other end of the shaft system 24 is connected to the foot end component 203 by the steering disc of the fourth joint steering gear 25, and the fastening assembly is completed by four sets of first bolts 207, and the installation of all shaft systems 24 is completed.

[0057] In a further embodiment of the present invention, the vacuum pump 301 of the air circuit system 3 is installed on the corresponding hole position of the lower plate 102 of the fuselage, and the rubber gasket 302 is installed between the vacuum pump 301 and the lower plate 102 of the fuselage to reduce the impact of the vacuum pump vibration on the whole. Four solenoid valves 304 are installed on the manifold 303, and the manifold 303 is installed on the lower plate 102 of the fuselage. The vacuum pump 301 is connected to the inner diameter 5mm air pipe, and the inner diameter 4mm air pipe is connected to the air inlet of the manifold 303 through the quick plug connector. Four 4mm air pipes are connected to the four air outlets of the manifold 303 and connected to the suction cup 305.

[0058] In a further embodiment of the present invention, the 12V power supply 403 of the main control module 4 outputs a 5V voltage to the main control board 401 and the servos 25 through the power management module 402. The main control board 401 can achieve full driving of 16 servos 25 by outputting an I2C signal to the I2C to 16-channel PWM module 404.

[0059] By controlling the second, third, and fourth joint servos 25, the suction cup 305 can be separated from the suctioned surface, and by controlling the first joint servo 25, the multi-degree-of-freedom foot assembly 2 can be rotated. Similarly, by rotating the four multi-degree-of-freedom foot assemblies 2 in sequence, the relative rotation between the multi-degree-of-freedom foot assembly 2 and the trunk module 1 is completed, and further controlling the servo 25 can achieve the in-situ twisting of the trunk module 1, that is, a rotation movement of the robot is completed.

[0060] In a further embodiment of the present invention, similarly, by controlling the inclination angle of the trunk module 1, omnidirectional movement of the full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system can be achieved.

[0061] In a further embodiment of the present invention, the transfer of orthogonal walls is used as an example to further illustrate the maneuverability of the present invention in cross-wall transfer. By controlling the second, third, and fourth joint servos 25, the suction cup 305 can be separated from the sucked surface. By controlling the first joint servo 25, the rotation of the multi-degree-of-freedom foot assembly 2 can be achieved, so that the suction cup 305 of a multi-degree-of-freedom foot assembly 2 can be transferred from wall A to wall B. Similarly, one multi-degree-of-freedom foot assembly 2 is transferred each time until the entire full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system completes a wall transfer. Similarly, for non-orthogonal walls, the full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system can still achieve wall transfer. Therefore, this full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system can achieve autonomous transfer from the ground to the wall and from the wall to the ceiling.

[0062] In a further embodiment of the present invention, specific implementation scheme 2: combining Fig.10 The present invention provides an electronic architecture of a fully-driven multi-degree-of-freedom foot-type wall-climbing robot travel system. First, a 12V power supply 403 outputs a 5V voltage to the main control board 401 and the servo 25 through the built-in DC-DC step-down voltage regulator chip of the power management module 402. The main control board 401 can achieve full drive of 16 servos 25 by outputting an I2C signal to the I2C to 16-channel PWM module 404. The main control board 401 controls the opening and closing of the MOS tube switch on the power management module through GPIO, thereby realizing the control of the opening and closing of the vacuum pump and the solenoid valve. The main control board 401 has a built-in Linux system and is equipped with a ROS real-time operating system, which can realize remote control. Furthermore, it can be equipped with expansion peripherals such as cameras, and the camera video can be sent to the client in real time based on rosbridge to realize telemetry operation.

[0063] In a further embodiment of the present invention, specific implementation scheme three: Based on the above embodiments, it should be noted that the present invention still has a relatively broad application prospect, and a preferred embodiment is provided here to complete the wall cleaning function. Based on the model mentioned in specific implementation scheme one, combined with Fig.11 , a cleaning module 5 is further added, and the cleaning module 5 includes: 4 roller brush brackets 501, 4 bearings 502, 1 roller brush 503, 1 brush 504, two motors 505 and an atomizer module 506.

[0064] Four roller brush brackets 501 are installed on the power base plate 104 of the trunk module 1 at a certain distance, the bearing 502 is installed on the mounting hole of the roller brush bracket 501, the roller brush 503 and the hair brush 504 are fixed between two bearings 502 respectively, and the roller brush 503 and the hair brush 504 are driven to rotate by the motor 505. On this basis, combined with the motor drive chip, the signal output by the Raspberry Pi 4b can further control the speed and direction of the motor, and combined with the MOS tube switch circuit, the Raspberry Pi 4b output signal can control the opening and closing of the atomizer.

[0065] In a further embodiment of the present invention, it is mentioned in the first embodiment that the full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system can move efficiently. As the present invention moves, the brush first brushes away the dust on the wall, then the atomizer sprays out atomized cleaning liquid (such as water pre-existing in the atomizer), and finally the roller brush wipes the wall to complete the cleaning of the wall. It should be noted that the order of these actions is that a certain area contacts the brush, atomizer, and roller brush in turn as the present invention moves, rather than the brush, atomizer, and roller brush being started in sequence.

[0066] In a further embodiment of the present invention, the cleaning module 5 can be tilted and twisted by controlling the angle of the steering gear. Therefore, the pressure applied to the wall surface is greater, and the cleaning effect on stubborn stains is more obvious. At the same time, because the suction redundancy of the suction cup is large enough during the design, the present invention will not fall off during the twisting and tilting of the fuselage.

[0067] In a further embodiment of the present invention, a quick-plug connector adapter is used to achieve modular assembly of the air circuit system 3, so that when a trunk module 1 of other specifications and sizes is replaced or a trunk module 1 with a different number of multi-degree-of-freedom foot components 2 needs to be loaded, rapid assembly of the air circuit system 3 can be achieved.

[0068] In a further embodiment of the present invention, the solenoid valve 304 is used to realize the opening and closing of the air pipeline, and the vacuum pump 301 is used for negative pressure suction, so that the four suction cups 305 can be tightly adsorbed on the wall to prevent the full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system from falling off. When the full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system is walking, the main control module 4 controls the solenoid valve 304 to disconnect one of the air pipelines, and the suction force of the suction cup 305 disappears. The main control module 4 controls the operation of multiple servos 25 on the multi-degree-of-freedom foot component 2 where the suction cup 305 is located to realize the walking action of the multi-degree-of-freedom foot component 2. Then the main control module 4 controls the solenoid valve 304 to connect the air pipeline, and the suction cup 305 is re-adsorbed on the wall, and the walking of other multi-degree-of-freedom foot components 2 is realized according to the above steps.

[0069] In a further embodiment of the present invention, due to different wall materials, the suction cup 305 cannot continuously adhere to the wall in a non-negative pressure state, and the vacuum pump 301 is required to continuously suction air under negative pressure.

[0070] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system, characterized in that: include: A trunk module (1), a multi-degree-of-freedom foot component (2), an air circuit system (3) and a main control module (4), wherein each corner of the trunk module (1) is provided with a multi-degree-of-freedom foot component (2) for supporting and walking, and the trunk module (1) comprises: an upper fuselage plate (101), a lower fuselage plate (102) and a power supply base plate (104) arranged in sequence from top to bottom, wherein the upper fuselage plate (101), the lower fuselage plate (102) and the power supply base plate (104) are parallel to each other; the main control module (4) is installed on the upper surface of the upper fuselage plate (101); the air circuit system (3) is installed on the upper surface of the lower fuselage plate (102); the main control module (4) is used to control the operation of the air circuit system (3) and the multi-degree-of-freedom foot component (2), and the air circuit system (3) is used to enable multiple multi-degree-of-freedom foot components (2) to absorb the ground.

2. The full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system according to claim 1, characterized in that: The air path system (3) comprises: a plurality of suction cups (305); the multi-degree-of-freedom foot component (2) comprises: a thigh component (201), a first calf component (202A), a second calf component (202B), a foot end component (203) and four shaft systems (24); the front end of the thigh component (201) and a corner of the trunk module (1) are rotationally connected via a vertically arranged shaft system (24); the rear end of the thigh component (201) and the front end of the first calf component (202A) are rotationally connected via a horizontally arranged shaft system (24); the rear end of the first calf component (202A) and the front end of the second calf component (202B) are rotationally connected via a horizontally arranged shaft system (24); the rear end of the second calf component (202B) and the upper end of the foot end component (203) are rotationally connected via a horizontally arranged shaft system (24); and a suction cup (305) is installed at the lower end of the foot end component (203).

3. The full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system according to claim 2, characterized in that: The gas circuit system (3) further comprises: a vacuum pump (301), a rubber gasket (302), a manifold (303), a solenoid valve (304) and a gas circuit pipeline. The vacuum pump (301) is mounted on the upper surface of the lower plate (102) of the fuselage. A rubber gasket (302) is mounted between the vacuum pump (301) and the lower plate (102) of the fuselage. The manifold (303) is mounted on the lower plate (102) of the fuselage. The air inlet of the vacuum pump (301) and the manifold (303) are connected through the gas circuit pipeline. Each air outlet of the manifold (303) is connected to a suction cup (305) through a pipeline. A plurality of solenoid valves (304) are mounted on the manifold (303). Each solenoid valve (304) is used to control the opening and closing of a suction cup (305).

4. The full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system according to claim 1, characterized in that: The trunk module (1) further comprises: a power supply bracket (103), wherein the body upper plate (101) and the power supply bottom plate (104) are connected via two of the power supply brackets (103); the main control module (4) comprises: a Raspberry Pi 4b main control board (401), a power management module (402), a 12V power supply (403) and an I2C to 16-channel PWM module (404), wherein the Raspberry Pi 4b main control board (401), the power management module (402) and the I2C to 16-channel PWM module (404) are all mounted on the body upper plate (101), and the 12V power supply (403) is mounted between the two power supply brackets (103).

5. The full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system according to claim 2, characterized in that: The multi-degree-of-freedom foot assembly (2) further comprises: a steering gear (25), the rear end of the first calf component (202A), the rear end of the second calf component (202B) and the front and rear ends of the thigh component (201) are all equipped with steering gears (25), each steering gear (25) is located at the end of an axis system (24), the steering gear (25) located at the front end of the thigh component (201) is used to drive the thigh component (201) to rotate around a corner of the torso module (1), and the steering gear (25) located at the thigh component (201) is used to drive the thigh component (201) to rotate around a corner of the torso module (1). The steering engine (25) at the rear end of the member (201) is used to drive the first calf member (202A) to rotate around the rear end of the thigh member (201), the steering engine (25) located at the rear end of the first calf member (202A) is used to drive the second calf member (202B) to rotate around the rear end of the first calf member (202A), and the steering engine (25) located at the rear end of the second calf member (202B) is used to drive the foot end member (203) to rotate around the rear end of the second calf member (202B).

6. The full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system according to claim 5, characterized in that: Each of the shaft systems (24) comprises: four first bolts (207); the output end of the steering engine (25) located at the front end of the thigh component (201) is limited by the four first bolts (207) located on the fuselage upper plate (101); the output end of the steering engine (25) located at the rear end of the thigh component (201) is limited by the four first bolts (207) located on the first calf component (202A); the output end of the steering engine (25) located at the rear end of the first calf component (202A) is limited by the four first bolts (207) located on the second calf component (202B); the output end of the steering engine (25) located at the rear end of the second calf component (202B) is limited by the four first bolts (207) located on the foot end component (203).

7. The full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system according to claim 5, characterized in that: Each of the shaft systems (24) further comprises: two flange bearings (204), a bearing gasket (205), a second bolt (206) and a nut (208); the two flange bearings (204), a bearing gasket (205) and a nut (208) are sequentially mounted on the second bolt (206); the front end of the thigh component (201) and a corner of the trunk module (1) are rotatably connected via a second bolt (206) and the two flange bearings (204); The rear end of the first calf component (202A) and the front end of the first calf component (202B) are rotatably connected via a second bolt (206) and two flange bearings (204); the rear end of the first calf component (202A) and the front end of the second calf component (202B) are rotatably connected via a second bolt (206) and two flange bearings (204); the rear end of the second calf component (202B) and the upper end of the foot end component (203) are rotatably connected via a second bolt (206) and two flange bearings (204).

8. The full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system according to claim 1, characterized in that: The trunk module (1) further comprises: a bottom plate gasket (105) and a fuselage shell (106); the lower end of the fuselage shell (106) is connected to the outer edge of the fuselage upper plate (101); and a bottom plate gasket (105) is installed between each thigh component (201) and the upper surface of the fuselage lower plate (102).

9. The full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system according to claim 1, characterized in that: A plurality of weight-reducing holes are provided on the upper fuselage plate (101) and the lower fuselage plate (102).

10. The full-drive multi-degree-of-freedom foot-type wall-climbing robot travel system according to any one of claims 1 to 9, characterized in that: Also includes: A cleaning module (5), the cleaning module (5) being mounted on the lower surface of the power base plate (104); The cleaning module (5) comprises: a roller brush bracket (501), a bearing (502), a roller brush (503), a hair brush (504), a motor (505) and an atomizer module (506). Four roller brush brackets (501) are installed on the lower surface of the power base plate (104). A bearing (502) is installed in each roller brush bracket (501). The two ends of the hair brush (504) are rotatably connected to the two roller brush brackets (501) through the bearings (502). The two ends of the roller brush (503) are rotatably connected to the other two roller brush brackets (501). 1) connected in rotation via a bearing (502); the brush (504) and the roller brush (503) are arranged parallel to each other, the atomizer module (506) is installed on the lower surface of the power base plate (104) and is located above the roller brush (503), a motor (505) is installed at the end of each of the brush (504) and the roller brush (503), the two motors (505) are respectively used to drive the brush (504) and the roller brush (503) to rotate, and the two motors (505) and the atomizer module (506) are connected to the main control module (4) via a line.

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