A full-drive multi-degree-of-freedom foot-type wall-climbing robot walking system

Abstract

This invention discloses a fully driven, multi-degree-of-freedom legged wall-climbing robot propulsion system, relating to the technical field of legged adhesive robots. It solves the problems of limited mobility and weak cross-wall transfer ability in adhesive legged robots during wall climbing. The system includes a torso module, multi-degree-of-freedom leg components, an air system, and a main control module. Each corner of the torso module is equipped with a multi-degree-of-freedom leg component for support and walking. The main control module controls the operation of the air system and the multi-degree-of-freedom leg components. The air system enables multiple multi-degree-of-freedom leg components to grip the ground. In this invention, when moving on a single vertical wall, it can achieve a larger stride length and more flexible turning methods. When transferring across walls, it ensures that at least three suction cups are simultaneously stressed, greatly improving safety during wall transfer. Furthermore, the transfer between walls is not subject to the angle between them.

Description

Technical Field

[0001] This invention relates to the technical field of legged adhesive robots, and more particularly to a fully driven, multi-degree-of-freedom legged wall-climbing robot propulsion system. Background Technology

[0002] With the rapid development of science and technology in my country, the robotics industry has grown rapidly in recent years. Among them, legged robots are in a stage of continuous technological innovation, expanding application scenarios, and steady market growth. Their application fields cover industries such as industrial production, medical and health care, home services, and commercial services, and they have a broad market, playing 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. Currently, most legged robot products can only move within planar environments and perform relatively conventional tasks. In scenarios with complex operating space requirements, such as the inspection and maintenance of large oil storage tanks and high-rise building facades, or exploration operations on the top of mines, adhesive-type legged robots capable of working on walls and suspended ceilings are needed. However, these robots have revealed serious shortcomings in practical applications. On the one hand, these robots lack flexibility, exhibiting slow turning speeds when moving on walls, making it difficult to quickly and accurately reach designated locations. On the other hand, their application scenarios are limited. Constrained by factors such as adhesion methods and energy supply, they can only work on surfaces of specific materials and structures, failing to meet the complex and varied practical operational needs, greatly hindering the in-depth application and promotion of legged robots in more fields. Summary of the Invention

[0004] To address the problems of limited mobility and weak cross-wall transfer ability of the aforementioned adhesive-type legged robots when climbing walls, the present invention aims to provide a fully driven multi-degree-of-freedom legged wall-climbing robot propulsion system.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A fully driven, multi-degree-of-freedom legged wall-climbing robot walking system includes: a torso module 1, multi-degree-of-freedom leg components 2, an air system 3, and a main control module 4. Each corner of the torso module 1 is equipped with a multi-degree-of-freedom leg component 2 for support and walking. The torso module 1 includes, from top to bottom, an upper body plate 101, a lower body plate 102, and a power base plate 104, which are parallel to each other. The main control module 4 is mounted on the upper surface of the upper body plate 101. The air system 3 is mounted on the upper surface of the lower body plate 102. The main control module 4 controls the operation of the air system 3 and the multi-degree-of-freedom leg components 2, and the air system 3 enables the multiple multi-degree-of-freedom leg components 2 to grip the ground.

[0007] The aforementioned fully driven multi-degree-of-freedom legged wall-climbing robot propulsion system includes an air system 3 comprising multiple suction cups 305; the multi-degree-of-freedom leg assembly 2 comprises a thigh component 201, a first lower leg component 202A, a second lower leg component 202B, a foot end component 203, and four shaft systems 24. The front end of the thigh component 201 is rotatably connected to a corner of the torso module 1 via a vertically arranged shaft system 24; the rear end of the thigh component 201 is rotatably connected to the front end of the first lower leg component 202A via a horizontally arranged shaft system 24; the rear end of the first lower leg component 202A and the front end of the second lower leg component 202B are rotatably connected via a horizontally arranged shaft system 24; the rear end of the second lower leg component 202B and the upper end of the foot end component 203 are rotatably connected via a horizontally arranged shaft system 24; and a suction cup 305 is mounted on the lower end of the foot end component 203.

[0008] The aforementioned fully driven, multi-degree-of-freedom legged wall-climbing robot's propulsion system includes an air system 3 that further comprises: a vacuum pump 301, a rubber gasket 302, a manifold 303, a solenoid valve 304, and air pipes. The vacuum pump 301 is mounted on the upper surface of the lower body plate 102, and a rubber gasket 302 is installed between the vacuum pump 301 and the lower body plate 102. The manifold 303 is mounted on the lower body plate 102, and the air inlets of the vacuum pump 301 and the manifold 303 are connected through air pipes. Each air outlet of the manifold 303 is connected to a suction cup 305 through a pipe. Multiple solenoid valves 304 are mounted on the manifold 303, and each solenoid valve 304 is used to control the opening and closing of a suction cup 305.

[0009] The aforementioned fully driven, multi-degree-of-freedom legged wall-climbing robot propulsion system includes a torso module 1 further comprising a power supply bracket 103, wherein the upper body plate 101 and the power supply base plate 104 are connected via two 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 upper body plate 101, and the 12V power supply 403 is mounted between the two power supply brackets 103.

[0010] The aforementioned fully driven multi-degree-of-freedom legged wall-climbing robot propulsion system further includes the multi-degree-of-freedom leg component 2, which includes: servo motors 25. Servo motors 25 are installed at the rear end of the first lower leg component 202A, the rear end of the second lower leg component 202B, and the front and rear ends of the thigh component 201. Each servo motor 25 is located at the end of a shaft system 24. The servo motor 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 motor 25 located at the rear end of the thigh component 201 is used to drive the first lower leg component 202A to rotate around the rear end of the thigh component 201. The servo motor 25 located at the rear end of the first lower leg component 202A is used to drive the second lower leg component 202B to rotate around the rear end of the first lower leg component 202A. The servo motor 25 located at the rear end of the second lower leg component 202B is used to drive the foot end component 203 to rotate around the rear end of the second lower leg component 202B.

[0011] The aforementioned fully driven multi-degree-of-freedom legged wall-climbing robot propulsion system includes, in which each of the shaft systems 24 comprises: four first bolts 207; the output end of the servo motor 25 located at the front end of the thigh component 201 is limited by the four first bolts 207 located on the upper plate 101 of the body; the output end of the servo motor 25 located at the rear end of the thigh component 201 is limited by the four first bolts 207 located on the first lower leg component 202A; the output end of the servo motor 25 located at the rear end of the first lower leg component 202A is limited by the four first bolts 207 located on the second lower leg component 202B; and the output end of the servo motor 25 located at the rear end of the second lower leg component 202B is limited by the four first bolts 207 located on the foot component 203.

[0012] The aforementioned fully driven multi-degree-of-freedom legged wall-climbing robot propulsion system includes, in each of the shaft systems 24, two flange bearings 204, a bearing washer 205, a second bolt 206, and a nut 208; the two flange bearings 204, the bearing washer 205, and the nut 208 are sequentially mounted 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 lower leg component 202A are rotatably connected by a second bolt 206 and two flange bearings 204; the rear end of the first lower leg component 202A and the front end of the second lower leg component 202B are rotatably connected by a second bolt 206 and two flange bearings 204; and the rear end of the second lower leg component 202B and the upper end of the foot component 203 are rotatably connected by a second bolt 206 and two flange bearings 204.

[0013] The aforementioned fully driven multi-degree-of-freedom legged wall-climbing robot propulsion system includes a torso module 1 that further comprises a base plate pad 105 and a body shell 106. The lower end of the body shell 106 is connected to the outer edge of the upper plate 101 of the body. A base plate pad 105 is installed between each thigh component 201 and the upper surface of the lower plate 102 of the body.

[0014] The aforementioned fully driven, multi-degree-of-freedom legged wall-climbing robot's propulsion system has multiple weight-reducing holes on both the upper plate 101 and the lower plate 102, which can be used for cable routing.

[0015] The aforementioned fully driven, multi-degree-of-freedom legged wall-climbing robot propulsion system further includes: a cleaning module 5, which is mounted 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 bristle brush 504, a motor 505, and an atomizer module 506. Four roller brush brackets 501 are mounted on the lower surface of the power base plate 104, and a bearing 502 is installed inside each roller brush bracket 501. The two ends of the bristle brush 504 are respectively connected to two roller brush brackets 501 through the bearings. 502 is rotatably connected; the two 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; the atomizer module 506 is installed on the lower surface of the power base plate 104 and located above the roller brush 503; a motor 505 is installed at the end of both the brush 504 and the roller brush 503; the two motors 505 are used to drive the brush 504 and the roller brush 503 to rotate respectively; the two motors 505 and the atomizer module 506 are all connected to the main control module 4 through wiring.

[0016] The present invention, by employing the above-mentioned technology, has the following positive effects compared with the prior art:

[0017] (1) In this invention, when the fully driven multi-degree-of-freedom legged wall-climbing robot travel system moves on a single vertical wall, it can have a larger stride length and a more flexible turning method, and can achieve omnidirectional full drive, and its mobility on the wall is also greatly improved.

[0018] (2) In this invention, when the fully driven multi-degree-of-freedom legged wall-climbing robot travel system moves across the wall, due to the design of redundant degrees of freedom, there may still be multiple solutions even when the end effector pose is fixed. Therefore, it ensures that at least three suction cups are subjected to force at the same time, which greatly improves the safety when moving across the wall. That is, each time only one leg needs to be lifted to complete the switch from one wall to another. Moreover, the above-mentioned transfer between walls does not require the included angle between the walls.

[0019] (3) In this invention, the fully driven multi-degree-of-freedom legged wall-climbing robot travel system can achieve obstacle avoidance, strange avoidance and other operations by adjusting the body configuration while keeping the position of the end effector (i.e., suction cup) unchanged, and can complete more complex actions and path planning.

[0020] (4) In this invention, the fully driven multi-degree-of-freedom legged wall-climbing robot travel system is low in cost and light in weight. It adopts a large number of integrated structural designs, has high equipment integration, complete electronic design, strong board expandability, and the torso module has a certain load-bearing capacity. Therefore, it has a wide range of applications, including but not limited to tile cleaning, high-rise rescue, military and other uses. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of a fully driven, multi-degree-of-freedom legged wall-climbing robot propulsion system according to the present invention.

[0022] Figure 2 This is a schematic diagram of the torso module of a fully driven, multi-degree-of-freedom legged wall-climbing robot propulsion system according to the present invention.

[0023] Figure 3 This is a schematic diagram of the multi-degree-of-freedom foot component of a fully driven multi-degree-of-freedom legged wall-climbing robot propulsion system according to the present invention.

[0024] Figure 4 This is a schematic diagram of the assembly of the first axis of the foot component of a fully driven, multi-degree-of-freedom legged wall-climbing robot propulsion system according to the present invention.

[0025] Figure 5 This is a schematic diagram of the assembly of the second axis system of the foot component of a fully driven, multi-degree-of-freedom legged wall-climbing robot propulsion system according to the present invention.

[0026] Figure 6 This is a schematic diagram of the assembly of the third axis of the foot component of a fully driven, multi-degree-of-freedom legged wall-climbing robot propulsion system according to the present invention.

[0027] Figure 7 This is a schematic diagram of the assembly of the fourth axis of the foot component of a fully driven, multi-degree-of-freedom legged wall-climbing robot propulsion system according to the present invention.

[0028] Figure 8 This is a schematic diagram of the pneumatic system of a fully driven, multi-degree-of-freedom legged wall-climbing robot propulsion system according to the present invention.

[0029] Figure 9 This is a schematic diagram of the main control module of a fully driven, multi-degree-of-freedom legged wall-climbing robot propulsion system according to the present invention.

[0030] Figure 10This is a schematic diagram of the electronic design of a fully driven, multi-degree-of-freedom legged wall-climbing robot propulsion system according to the present invention.

[0031] Figure 11 This is a schematic diagram of the assembly of an extended cleaning module of a fully driven, multi-degree-of-freedom legged wall-climbing robot travel system according to the present invention.

[0032] In the attached diagram: 1. Torso module; 2. Multi-DOF foot assembly; 3. Pneumatic 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 base plate; 105. Base plate gasket; 106. Fuselage shell; 201. Thigh assembly; 202A. First lower leg assembly; 202B. Second lower leg assembly; 203. Foot end assembly; 204. Flange bearing; 205. Bearing. Gasket; 206, Second Bolt; 207, First Bolt; 208, Nut; 301, Vacuum Pump; 302, Rubber Washer; 303, Busbar; 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, Hair Brush; 505, Motor; 506, Atomizer Module. Detailed Implementation

[0033] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

[0034] Please refer to Figures 1 to 11 As shown, a fully driven, multi-degree-of-freedom legged wall-climbing robot propulsion system is illustrated, comprising:

[0035] The torso 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 base plate 104, four base plate gaskets 105, and a fuselage outer shell 106. The fuselage outer 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 motor 25. The base plate gaskets 105 are used to support the connection between the lower fuselage plate 102 and the shaft system 24. The two power supply brackets 103 are arranged in parallel, with two mounting positions on the upper and lower surfaces, corresponding to the lower fuselage plate 102 and the power supply base plate 104.

[0036] The multi-degree-of-freedom foot assembly 2 consists of four parts: a thigh component 201, two lower leg components 202, a foot end component 203, four shaft systems 24, and four servo motors 25.

[0037] The air 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 connector, an air tube with an inner diameter of 5mm, and an air tube with an inner diameter of 4mm.

[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 air circuit module 3 by electrical signals to complete the command actions.

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

[0040] Furthermore, in a preferred embodiment, each shaft system 24 includes: two flange bearings 204, one bearing washer 205, one second bolt 206 (M3×20), four first bolts 207 (M3×8), and one M3 nut 208. The two flange bearings 204 are tightly fitted back-to-back, with the two flange rings facing outwards and installed in the mounting grooves of the lower body plate 102 and the base plate washer 105. The bolt head of the second bolt 206 is embedded in the groove A of the thigh component 201, with approximately 7mm protruding outwards. The flange bearing 204 is fitted onto the second bolt 206, with the inner ring of one bearing abutting against the protruding position C of the thigh component 201, and the bearing washer 205 fitted onto the other side, with the bearing washer 205 abutting against the inner ring of the bearing on the same side. The nut 208 is then fitted and tightened. The other end of the shaft system 24 is connected to the fuselage plate 101 by the rudder disk of the first joint servo motor 25, and is fastened by four sets of first bolts 207 to complete the installation of the first shaft system 24.

[0041] Furthermore, in a preferred embodiment, two flange bearings 204 are installed in the mounting groove of the lower leg component 202A with the flange facing outwards. The bolt head of the second bolt 206 is embedded in the groove B of the upper leg component 201, with the second bolt 206 protruding about 7mm outwards. The flange bearing 204 is fitted onto the second bolt 206, with the inner ring of the bearing on one side pressing against the protruding position D of the upper leg component 201. A bearing washer 205 is fitted onto the other side, with the bearing washer 205 pressing against the inner ring of the bearing on the same side. The nut 208 is then fitted and tightened. The other end of the shaft system 24 is connected to the lower leg component 202A by the rudder disk of the second joint servo motor 25, and the fastening assembly is completed by four sets of first bolts 207, thus completing the installation of the second shaft system 24.

[0042] Furthermore, in a preferred embodiment, two flange bearings 204 are installed in the mounting groove of the lower leg component 202B with the flange facing outwards. The bolt head of the second bolt 206 is embedded in the groove of the lower leg component 202A, with the second bolt 206 protruding about 7mm outwards. The flange bearing 204 is fitted onto the second bolt 206, with the inner ring of the bearing on one side resting on the protruding position of the lower leg component 202A. A bearing washer 205 is fitted onto the other side, with the bearing washer 205 resting on the inner ring of the bearing on the same side. The nut 208 is then fitted and tightened. The other end of the shaft system 24 is connected to the lower leg component 202B by the rudder disk of the third joint servo motor 25. The assembly is completed by four sets of first bolts 207, thus completing the installation of the third shaft system 24.

[0043] Furthermore, in a preferred embodiment, two flange bearings 204 are installed in the mounting grooves of the foot component 203, with the flanges facing outwards. The bolt head of the second bolt 206 is embedded in the groove of the lower leg component 202B, with the second bolt 206 protruding approximately 7mm outwards. The flange bearing 204 is then fitted onto the second bolt 206, with the inner ring of one bearing resting against the protrusion of the lower leg component 202B. A bearing washer 205 is fitted onto the other side, with the bearing washer 205 resting against the inner ring of the bearing on the same side. Nuts 208 are then fitted and tightened. The other end of the shaft system 24 is connected to the foot component 203 by the rudder disc of the fourth joint servo motor 25, and the assembly is completed by four sets of first bolts 207, thus completing the installation of all shaft systems 24.

[0044] Furthermore, in a preferred embodiment, the vacuum pump 301 of the gas path system 3 is installed in the corresponding hole on the lower plate 102 of the machine body, and a rubber gasket 302 is installed between the vacuum pump 301 and the lower plate 102 of the machine body to reduce the impact of vacuum pump vibration on the overall structure. Four solenoid valves 304 are installed on the manifold 303, which is also installed on the lower plate 102 of the machine body. The vacuum pump 301 is connected to a 5mm inner diameter air pipe, and a 4mm inner diameter air pipe is connected to the air inlet of the manifold 303 via a quick-connect fitting. Four 4mm air pipes are respectively connected from the four air outlets of the manifold 303 to the suction cup 305.

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

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

[0047] In addition to the above, the present invention also has the following embodiments:

[0048] In a further embodiment of the present invention, specific implementation scheme one: combining Figures 1 to 9 As shown, this invention provides a fully driven, multi-degree-of-freedom legged wall-climbing robot propulsion system, including a torso module 1. The torso module is arranged in three layers, including: an upper body plate 101, a lower body plate 102, two power supply brackets 103, a power supply base plate 104, four base plate pads 105, and a body shell 106. The body shell 106 is directly mounted on the upper body plate 101 to protect the internal circuits and components. The upper body plate 101 and the lower body plate 102 are connected by a first joint servo motor 25. The base plate pads 105 are used to support the lower body plate 102 and connect it to the shaft system 24. The two power supply brackets 103 are arranged in parallel, with two mounting positions on the upper and lower surfaces, corresponding to the lower body plate 102 and the power supply base plate 104.

[0049] The multi-degree-of-freedom foot assembly 2 consists of four parts: a thigh component 201, two lower leg components 202, a foot end component 203, four shaft systems 24, and four servo motors 25.

[0050] The air 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 connector, an air tube with an inner diameter of 5mm, and an air tube with an inner diameter of 4mm.

[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 air circuit module 3 by electrical signals to complete the command actions.

[0052] In a further embodiment of the present invention, the multi-degree-of-freedom foot assembly 2 is connected to the upper plate 101 and the lower plate 102 of the torso module via a first joint servo motor 25. The first joint servo motor 25 is mounted in the mounting slot A of the thigh component 201 and connected to the torso module 1 via a shaft 24. The second joint servo motor 25 is mounted in the mounting slot B of the thigh component 201 and connected to the lower leg component 202 via a shaft 24. The third joint servo motor 25 is mounted in the mounting slot of the first lower leg component 202A and connected to the second lower leg component 202B via a shaft 24. The fourth joint servo motor 25 is mounted in the mounting slot of the second lower leg component 202B and connected to the foot end component 203 via a shaft 24.

[0053] In a further embodiment of the present invention, each shaft system 24 includes: two flange bearings 204, one bearing washer 205, one M3*20 second bolt 206, four M3*8 first bolts 207, and one M3 nut 208. The two flange bearings 204 are tightly fitted back-to-back, with the two flange rings facing outwards and installed in the mounting grooves of the lower body plate 102 and the base plate washer 105. The bolt head of the second bolt 206 is embedded in the groove A of the thigh component 201, with approximately 7mm of the second bolt 206 protruding outwards. The flange bearing 204 is fitted onto the second bolt 206, with the inner ring of one side resting against the protruding position C of the thigh component 201, and the bearing washer 205 fitted onto the other side, with the bearing washer 205 resting against the inner ring of the bearing on the same side. The nut 208 is then fitted and tightened. The other end of the shaft system 24 is connected to the fuselage plate 101 by the rudder disk of the first joint servo motor 25, and the assembly is completed by four sets of first bolts 207, thus completing 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 mounting groove of the first lower leg component 202A, with the flange facing outwards. The bolt head of the second bolt 206 is embedded in the groove B of the upper leg component 201, with the second bolt 206 protruding outwards by approximately 7mm. The flange bearing 204 is then fitted onto the second bolt 206, with the inner ring of one bearing resting against the protruding position D of the upper leg component 201. A bearing washer 205 is fitted onto the other side, with the bearing washer 205 resting against the inner ring of the bearing on the same side. Nuts 208 are then fitted and tightened. The other end of the shaft system 24 is connected to the first lower leg component 202A by the rudder disc of the second joint servo motor 25, and the assembly is completed by four sets of first bolts 207, thus completing the installation of the second shaft system 24.

[0055] In a further embodiment of the present invention, two flange bearings 204 are installed in the mounting groove of the second lower leg component 202B with the flange facing outwards. The bolt head of the second bolt 206 is embedded in the groove of the first lower leg component 202A, with the second bolt 206 protruding outwards by about 7mm. The flange bearing 204 is then fitted onto the second bolt 206, with the inner ring of the bearing on one side abutting against the protrusion of the first lower leg component 202A, and a bearing washer 205 is fitted onto the other side, with the bearing washer 205 abutting against the inner ring of the bearing on the same side. Nuts 208 are then fitted and tightened. The other end of the shaft system 24 is connected to the second lower leg component 202B by the rudder disc of the third joint servo motor 25, and the assembly is completed by four sets of first bolts 207, thus completing the installation of the third shaft system 24.

[0056] In a further embodiment of the present invention, two flange bearings 204 are installed in the mounting grooves of the foot end component 203, with the flanges facing outwards. The bolt head of the second bolt 206 is embedded in the groove of the second lower leg component 202B, with the second bolt 206 protruding outwards by approximately 7mm. The flange bearing 204 is then fitted onto the second bolt 206, with the inner ring of the bearing on one side resting against the protrusion of the second lower leg component 202B. A bearing washer 205 is fitted onto the other side, with the bearing washer 205 resting against the inner ring of the bearing on the same side. Nuts 208 are then fitted and tightened. The other end of the shaft system 24 is connected to the foot end component 203 by the rudder disc of the fourth joint servo motor 25, and the assembly is completed by four sets of first bolts 207, thus completing the installation of all shaft systems 24.

[0057] In a further embodiment of the present invention, the vacuum pump 301 of the gas path system 3 is installed in the corresponding hole on the lower plate 102 of the machine body, and a rubber gasket 302 is installed between the vacuum pump 301 and the lower plate 102 of the machine body to reduce the impact of vacuum pump vibration on the overall structure. Four solenoid valves 304 are installed on the manifold 303, which is also installed on the lower plate 102 of the machine body. The vacuum pump 301 is connected to a 5mm inner diameter air pipe, and a 4mm inner diameter air pipe is connected to the air inlet of the manifold 303 via a quick-connect fitting. Four 4mm air pipes are respectively connected from the four air outlets of the manifold 303 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 5V voltage through the power management module 402 to power the main control board 401 and the servo motor 25. The main control board 401 can achieve full drive of 16 servo motors 25 by outputting I2C signals to the I2C to 16-channel PWM module 404.

[0059] By controlling the second, third, and fourth joint servo motors 25, the suction cup 305 can be detached from the suction surface. By controlling the first joint servo motor 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 torso module 1 is completed. Further control of the servo motors 25 can achieve the in-situ torsion of the torso module 1, thus completing one rotational movement of the robot.

[0060] In a further embodiment of the present invention, similarly, by controlling the tilt angle of the torso module 1, omnidirectional movement of the fully driven multi-degree-of-freedom legged wall-climbing robot propulsion system can be achieved.

[0061] In a further embodiment of the present invention, the maneuverability of the present invention in cross-wall transfer will be further illustrated using the transfer across orthogonal walls as an example. By controlling the second, third, and fourth joint servo motors 25, the suction cup 305 can be detached from the surface being suctioned. By controlling the first joint servo motor 25, the rotation of the multi-degree-of-freedom foot assembly 2 can be achieved. In this way, the suction cup 305 of one 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 fully driven multi-degree-of-freedom legged wall-climbing robot system completes one wall transfer. Similarly, for non-orthogonal walls, the fully driven multi-degree-of-freedom legged wall-climbing robot system can still achieve wall transfer. Therefore, this fully driven multi-degree-of-freedom legged wall-climbing robot system can achieve autonomous transfer from the ground to a wall and from a wall to a ceiling.

[0062] In a further embodiment of the present invention, specific implementation scheme two: combined with Figure 10 This invention provides an electronic architecture for a fully driven, multi-degree-of-freedom legged wall-climbing robot propulsion system. First, a 12V power supply 403 outputs 5V through a DC-DC step-down regulator chip built into the power management module 402 to power the main control board 401 and servo motors 25. The main control board 401 outputs I2C signals to an I2C-to-16-channel PWM module 404, enabling full drive of all 16 servo motors 25. The main control board 401 controls the switching of MOSFETs on the power management module via GPIO, thereby controlling the vacuum pump and solenoid valves. The main control board 401 has a built-in Linux system and runs on the ROS real-time operating system, enabling remote control. Furthermore, it can be equipped with peripherals such as cameras, and via ROS Bridge, the camera video can be sent to the client in real time for telemetry operations.

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

[0064] Four roller brush holders 501 are installed at a certain distance on the power base plate 104 of the body module 1. Bearings 502 are installed on the mounting holes of the roller brush holders 501. Roller brushes 503 and bristle brushes 504 are fixed between two bearings 502 respectively. The roller brushes 503 and bristle brushes 504 are driven to rotate by a motor 505. Based on this, combined with a motor driver chip, the signal output from the Raspberry Pi 4b can further control the speed and direction of the motor. Combined with a MOSFET switching circuit, the atomizer can be turned on and off by the signal output from the Raspberry Pi 4b.

[0065] In a further embodiment of the present invention, the fully driven, multi-degree-of-freedom legged wall-climbing robot propulsion system mentioned in Scheme 1 can move efficiently. As the present invention moves, firstly, a brush removes dust from the wall surface, then an atomizer sprays atomized cleaning liquid (such as water pre-stored in the atomizer), and finally, a roller brush dries the wall surface, completing the cleaning of the wall surface. It should be noted that these actions occur sequentially for a specific area as the present invention moves, contacting the brush, atomizer, and roller brush in that order, rather than the brush, atomizer, and roller brush being activated sequentially.

[0066] In a further embodiment of the present invention, the cleaning module 5 can be tilted and twisted by controlling the angle of the servo motor. Therefore, greater pressure is applied to the localized wall surface, resulting in a more significant cleaning effect on stubborn stains. Simultaneously, because the suction cup has sufficient redundancy in its design, the invention will not detach during the twisting and tilting of the body.

[0067] In a further embodiment of the present invention, a quick-connect adapter is used to achieve modular assembly of the air circuit system 3. When replacing the torso module 1 with other specifications and sizes or when the torso module 1 needs to be loaded with different numbers of multi-degree-of-freedom foot components 2, the air circuit system 3 can be quickly assembled.

[0068] In a further embodiment of the present invention, the solenoid valve 304 is used to open and close the air passage, and the vacuum pump 301 is used for negative pressure suction, so that the four suction cups 305 can be tightly attached to the wall surface, preventing the fully driven multi-degree-of-freedom legged climbing robot's walking system from falling off. When the fully driven multi-degree-of-freedom legged climbing robot's walking system is walking, the main control module 4 controls the solenoid valve 304 to disconnect one of the air passages, the suction force of the suction cup 305 disappears, and the main control module 4 controls the operation of multiple servo motors 25 on the multi-degree-of-freedom legged component 2 where the suction cup 305 is located, so that the multi-degree-of-freedom legged component 2 can perform walking actions. Subsequently, the main control module 4 controls the solenoid valve 304 to connect the air passage, the suction cup 305 re-attaches to the wall surface, and the other multi-degree-of-freedom legged components 2 can walk according to the above steps.

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

[0070] The above are merely 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 recognize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. A fully driven, multi-degree-of-freedom legged wall-climbing robot propulsion system, characterized in that, include: The torso module (1), multi-degree-of-freedom foot components (2), air system (3), and main control module (4) are provided. Each corner of the torso module (1) is equipped with a multi-degree-of-freedom foot component (2) for support and walking. The torso module (1) includes: a body upper plate (101), a body lower plate (102), and a power base plate (104) arranged from top to bottom. The body upper plate (101), body lower plate (102), and power base plate (104) are parallel to each other. The main control module (4) is installed on the upper surface of the body upper plate (101). The air system (3) is installed on the upper surface of the body lower plate (102). The main control module (4) is used to control the operation of the air system (3) and the multi-degree-of-freedom foot components (2). The air system (3) is used to enable multiple multi-degree-of-freedom foot components (2) to suck up the ground. The air system (3) includes: multiple suction cups (305); the multi-degree-of-freedom foot assembly (2) includes: a thigh component (201), a first lower leg component (202A), a second lower leg 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 torso module (1) are rotatably connected by a vertically arranged shaft system (24). The rear end of the thigh component (201) and the front end of the first lower leg component (202A) are rotatably connected by a horizontally arranged shaft system (24). The rear end of the first lower leg component (202A) and the front end of the second lower leg component (202B) are rotatably connected by a horizontally arranged shaft system (24). The rear end of the second lower leg component (202B) and the upper end of the foot end component (203) are rotatably connected by a horizontally arranged shaft system (24). A suction cup (305) is installed at the lower end of the foot end component (203). The multi-degree-of-freedom foot assembly (2) further includes: servo motors (25), servo motors (25) are installed at the rear end of the first lower leg component (202A), the rear end of the second lower leg component (202B) and the front and rear ends of the thigh component (201), and each servo motor (25) is located at the end of a shaft system (24); Each shaft system (24) includes: two flange bearings (204), one bearing gasket (205), one second bolt (206), four first bolts (207), and one M3 nut (208). The two flange bearings (204) are tightly fitted back to back, and the two flange rings are installed outward in the mounting grooves of the lower fuselage plate (102) and the base plate gasket (105). The bolt head of the second bolt (206) is embedded in the groove A of the thigh component (201), with the second bolt (206) protruding outward by about 7 mm. mm, put the flange bearing (204) on the second bolt (206), 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 put 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 M3 nut (208) and tighten it. The other end of the shaft system (24) is connected to the fuselage plate (101) by the rudder disk of the first joint servo motor (25). The fastening assembly is completed by four sets of first bolts (207), and the installation of the first shaft system (24) is completed. The output end of the servo (25) located at the front end of the thigh component (201) is limited by four first bolts (207) located on the upper plate (101) of the fuselage.

2. The fully driven multi-degree-of-freedom legged wall-climbing robot propulsion system according to claim 1, characterized in that, The pneumatic system (3) further includes: a vacuum pump (301), a rubber gasket (302), a manifold (303), a solenoid valve (304), and a pneumatic pipeline. The vacuum pump (301) is installed on the upper surface of the lower plate (102) of the machine body. A rubber gasket (302) is installed between the vacuum pump (301) and the lower plate (102) of the machine body. The manifold (303) is installed on the lower plate (102) of the machine body. The air inlet of the vacuum pump (301) and the manifold (303) are connected through the pneumatic pipeline. Each air outlet of the manifold (303) is connected to a suction cup (305) through a pipeline. Multiple solenoid valves (304) are installed on the manifold (303). Each solenoid valve (304) is used to control the opening and closing of a suction cup (305).

3. The fully driven multi-degree-of-freedom legged wall-climbing robot propulsion system according to claim 1, characterized in that, The torso module (1) further includes a power supply bracket (103), the upper plate (101) and the power supply base plate (104) are connected by two 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 mounted on the upper plate (101), and the 12V power supply (403) is mounted between the two power supply brackets (103).

4. The fully driven multi-degree-of-freedom legged wall-climbing robot propulsion system according to claim 1, characterized in that, The servo motor (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 motor (25) located at the rear end of the thigh component (201) is used to drive the first lower leg component (202A) to rotate around the rear end of the thigh component (201). The servo motor (25) located at the rear end of the first lower leg component (202A) is used to drive the second lower leg component (202B) to rotate around the rear end of the first lower leg component (202A). The servo motor (25) located at the rear end of the second lower leg component (202B) is used to drive the foot component (203) to rotate around the rear end of the second lower leg component (202B).

5. The fully driven multi-degree-of-freedom legged wall-climbing robot propulsion system according to claim 4, characterized in that, The output end of the servo motor (25) located at the rear end of the thigh component (201) is limited by four first bolts (207) located on the first lower leg component (202A); the output end of the servo motor (25) located at the rear end of the first lower leg component (202A) is limited by four first bolts (207) located on the second lower leg component (202B); the output end of the servo motor (25) located at the rear end of the second lower leg component (202B) is limited by four first bolts (207) located on the foot component (203).

6. The fully driven multi-degree-of-freedom legged wall-climbing robot propulsion system according to claim 4, characterized in that, Two flange bearings (204), a bearing washer (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 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 lower leg component (202A) are rotatably connected by a second bolt (206) and two flange bearings (204); the rear end of the first lower leg component (202A) and the front end of the second lower leg component (202B) are rotatably connected by a second bolt (206) and two flange bearings (204); the rear end of the second lower leg component (202B) and the upper end of the foot component (203) are rotatably connected by a second bolt (206) and two flange bearings (204).

7. The fully driven multi-degree-of-freedom legged wall-climbing robot propulsion system according to claim 1, characterized in that, The torso module (1) further includes: a base plate pad (105) and a fuselage shell (106), the lower end of the fuselage shell (106) is connected to the outer edge of the upper fuselage plate (101), and a base plate pad (105) is installed between each thigh component (201) and the upper surface of the lower fuselage plate (102).

8. The fully driven multi-degree-of-freedom legged wall-climbing robot propulsion system according to claim 1, characterized in that, Multiple weight-reduction holes are provided on both the upper plate (101) and the lower plate (102) of the fuselage.

9. The fully driven multi-degree-of-freedom legged wall-climbing robot propulsion system according to any one of claims 1 to 8, characterized in that, Also includes: Cleaning module (5), the cleaning module (5) 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 bristle 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). Each roller brush bracket (501) has a bearing (502) installed inside it. The two ends of the bristle brush (504) are rotatably connected to two roller brush brackets (501) respectively through the bearings (502). The two ends of the roller brush (503) are respectively connected to the other two roller brush brackets (504). 1) Rotary connection via bearing (502); brush (504) and roller brush (503) are arranged parallel to each other, atomizer module (506) is installed on the lower surface of power base plate (104) and above roller brush (503), a motor (505) is installed at the end of brush (504) and roller brush (503), the two motors (505) are used to drive brush (504) and roller brush (503) to rotate respectively, and the two motors (505) and atomizer module (506) are all connected to the main control module (4) via lines.

Images