Wall-climbing robot and control method

Abstract

The invention provides a wall-climbing robot and a control method. The robot comprises a supporting plate, an outer foot assembly slidably arranged at the top of the supporting plate, an inner foot assembly arranged at the bottom of the supporting plate and a motion posture sensor. The outer foot assembly comprises a second rack and a plurality of first swing adsorption units; the linear driving mechanism is arranged on the top face of the supporting plate, and the second rack is connected with the moving end of the linear driving mechanism. The inner foot assembly comprises a first rack, a plurality of second swing adsorption units and a rotating mechanism, the first rack comprises a plurality of supporting arms, and the second swing adsorption units are correspondingly arranged at the extending ends of the supporting arms respectively; the rotating end of the rotating mechanism is connected with the supporting plate; the first swing adsorption unit and the second swing adsorption unit respectively comprise a swing mechanism, a suction cup arranged at the swing end of the swing mechanism and a negative pressure air pump; the motion attitude sensor is in communication connection with the negative pressure air pump; the wall-climbing robot is not easy to fall off and can realize large-span obstacle crossing.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robots, and particularly to a wall-climbing robot and a control method therefor. Background Art

[0002] Most modern high-rise buildings adopt glass curtain walls for aesthetics and styling. Exposed to wind, sun, rain, and dust, the exterior walls need to be cleaned regularly. In the early days, most cleaning was carried out by "spidermen" working at high altitudes, but the risk of falling was relatively high. To avoid casualties of high-rise workers, wall-climbing robots for high-altitude operations have emerged at home and abroad. Most of them use negative-pressure fans to suck air to make the robots adhere to the walls and use wheeled methods to move. However, with this structure, it is difficult to cross obstacles when encountering surface obstacles or steps; to be able to cross obstacles, bionic quadruped wall-climbing robots have emerged on the market, which can now lift their legs over large-span obstacles, but when lifting their legs, the suction of the other three legs is difficult to guarantee, and there is an easy risk of falling.

[0003] A Chinese patent application with the application number 2024112109672 discloses a negative-pressure adsorption wall-climbing robot based on modular design and its usage method. The negative-pressure adsorption module of this robot can autonomously adjust the shape of the sealing skirt to improve the stability and reliability of the negative-pressure adsorption module. However, only by adjusting the shape of the sealing skirt to adapt to an arc-shaped or curved working surface, on the one hand, the risk of air leakage is relatively high, and on the other hand, it is still difficult to cross large-span steps or pitted working surfaces.

[0004] Therefore, there is an urgent need for a wall-climbing robot and a control method therefor, which not only have a stable adsorption force and are not easy to fall, but also have excellent obstacle-crossing ability and can cross large-span obstacles. Summary of the Invention

[0005] The purpose of the present invention is to provide a wall-climbing robot and a control method therefor, aiming to solve the technical problems that traditional wall-climbing robots are prone to falling when climbing vertically and are difficult to cross large-span obstacles.

[0006] To achieve the above purpose, in a first aspect, the present invention provides a wall-climbing robot, comprising: A support plate member, An outer foot assembly, slidably arranged on the top of the support plate member through a linear driving mechanism, which includes a second frame and a plurality of second swing adsorption units. The plurality of second swing adsorption units are circumferentially distributed along the second frame; the linear driving mechanism is arranged on the top surface of the support plate member, and the second frame includes two symmetrically arranged half brackets, and the half brackets are respectively connected to the moving end of the linear driving mechanism; The inner foot component is arranged at the bottom of the support plate member, and it includes a first frame, a plurality of first swing adsorption units, and a rotating mechanism arranged on the first frame. The first frame includes a first frame body and a plurality of support arms circumferentially and evenly distributed around the first frame body. The first swing adsorption units are respectively arranged at the bottoms of the extending ends of the support arms. The rotating end of the rotating mechanism is connected to the support plate member to drive the support plate member and the outer foot component to turn. The first swing adsorption unit and the second swing adsorption unit have the same structure, and each includes a swing mechanism, a suction cup arranged at the swing end of the swing mechanism, and a negative pressure air pump for separately supplying air to the suction cup. A motion attitude sensor is used to detect the inclination angle of the wall-climbing robot in real time and is communicatively connected to the negative pressure air pump to increase the adsorption force by controlling the output negative pressure value of the corresponding negative pressure air pump.

[0007] As a further improvement of the above solution, the swing mechanism includes a swing base, a pair of active link rods and driven link rods arranged on both sides of the swing base, and a swing servo motor arranged in the middle of the bottom surface of the swing base. The output rotating shafts at both ends of the swing servo motor are respectively drivingly connected to one ends of the two active link rods, and the other ends of the two active link rods are connected to the corresponding suction cups. One end of the driven link rod is hinged to the corresponding side of the swing base, and the other end is connected to the corresponding suction cup.

[0008] As a further improvement of the above solution, the top surface of the swing base is connected to the extension end of the half bracket or the support arm; and the swing base is provided with a receiving cavity for arranging the negative pressure air pump.

[0009] As a further improvement of the above solution, a multi-degree-of-freedom robotic arm device is further arranged on the upper surface of the second frame, and an operating attachment is arranged at the execution end of the robotic arm device so that the operating attachment can flexibly execute operating tasks. Preferably, the operating attachment is one of a cleaning head, a mechanical claw, and a spraying device.

[0010] As a further improvement of the above solution, the wall-climbing robot further includes a vision component, which includes a binocular camera and a lidar for collecting three-dimensional contour information of obstacles.

[0011] As a further improvement of the above solution, the robotic arm device includes a fixed seat arranged on the support plate member, a first robotic arm and a second robotic arm. One end of the first robotic arm is rotatably arranged on the fixed seat, and the other end is hinged to one end of the second robotic arm. The operating attachment is arranged at the other end of the second robotic arm.

[0012] As a further improvement of the above solution, the rotating mechanism includes a rotating servo, a driving gear, a driven gear meshed and drivingly connected to the driving gear, and a slewing bearing rotatably connected to the driven gear; the slewing bearing is arranged in the middle of the first frame, and the driven gear is fixedly connected to the support plate member; The rotating servo is installed on the lower surface of the first frame, and its driving shaft passes through the first frame and is drivingly connected to the driving gear. The driven gear constitutes the rotating end of the rotating mechanism to drive the support plate member and the outer foot assembly arranged on its top to rotate and turn.

[0013] As a further improvement of the above solution, the rotating mechanism further includes a shaft encoder, which is arranged on the slewing bearing in a matching manner and is used to detect the rotation angle of the rotating servo.

[0014] As a further improvement of the above solution, the linear driving power of the linear driving mechanism is an electric push rod or a lead screw driving module; When the linear driving power is an electric push rod, the electric push rod is installed on the support plate member, and a linear guide rail is further arranged on the support plate. A slider is arranged at the telescopic end, and the slider is slidably arranged on the linear guide rail in a matching manner. The slider constitutes the mobile end, and the two half brackets are symmetrically arranged on both sides of the slider; When the linear driving power is a lead screw driving module, the lead screw driving module is installed on the support plate member, and its lead screw nut constitutes the mobile end, and the two half brackets are symmetrically arranged on both sides of the lead screw nut.

[0015] In a second aspect, the present invention further provides a control method for a wall-climbing robot as provided in the first aspect, and its steps include: S1. On a flat working surface, the linear driving mechanism pushes a first preset distance each time, and the inner foot assembly and the outer foot assembly alternately adsorb on the working surface to move forward for operation; and during the alternation process, the first swing adsorption unit and the second swing adsorption unit swing a first preset height each time to separate the suction cups from the working surface; S2. When encountering a high-span obstacle, the vision component acquires the current environmental information and feeds it back to the controller; If it is judged that no turning is required, the first swing adsorption unit or the second swing adsorption unit swings a second preset height to separate the suction cup from the working surface to complete the alternate adsorption; If it is judged that turning is required, start the rotating mechanism to make the inner foot assembly and the outer foot assembly generate a relative rotation angle to realize turning; S3. If the motion attitude sensor detects that the inclination angle of this wall-climbing robot exceeds the inclination angle threshold, control the output negative pressure value of the corresponding negative pressure air pump to increase the adsorption force.

[0016] As a further improvement of the above solution, in step S1, the specific steps of the straight-line travel control method on a flat working surface are as follows: S11. The suction cups of the inner foot assembly are adsorbed on the working surface through a negative pressure air pump, and the suction cups of the outer foot assembly are in a detached state; S12. The controller sends an instruction to the linear drive mechanism to drive the outer foot assembly to move forward a first preset distance relative to the inner foot assembly; S13. The negative pressure air pump of the outer foot assembly starts to adsorb, and at the same time, the swing mechanism of the second swing adsorption unit acts, so that its suction cup detaches from the working surface at a first preset height and swings forward; S14. The negative pressure air pump of the inner foot assembly is turned off, and the first swing adsorption unit swings synchronously by a first preset height, so that the inner foot suction cup detaches from the working surface and resets to the next adsorption position; S15. Repeat steps S12 - S14 to achieve continuous straight-line travel through the alternating adsorption and swing of the inner and outer foot assemblies.

[0017] As a further improvement of the above solution, in step S2, the specific steps of the high-span obstacle crossing and turning control method are as follows: S21. Crossing control without turning: The vision component calculates the obstacle height H through point cloud data. If H ≤ the second preset height, it is determined that no turning is required; The first swing adsorption unit or the second swing adsorption unit drives the suction cup to swing to the second preset height, so that the suction cup re-adsorbs after crossing the obstacle; During the crossing process, the single push distance of the linear drive mechanism is shortened to 50% of the original first preset distance; S22. Obstacle avoidance control with turning: If the width of the obstacle exceeds the width of the robot body (preferably, more than 1.5 times the width of the robot body), and the included angle of the feasible regions on both sides is greater than the preset value, the controller generates a turning instruction; The rotation mechanism is started to make the inner foot assembly and the outer foot assembly generate a relative rotation angle, and the negative pressure air pump maintains the adsorption state during the turning process; The vision component real-time feeds back the information of the working surface after turning, and the controller adjusts the rotation angle until the path aligns with the target direction.

[0018] As a further improvement of the above solution, in step S3, the specific steps of the adaptive adsorption adjustment control method in the inclined state are as follows: The motion attitude sensor continuously collects the inclination angle θ of the robot. When θ exceeds the inclination angle threshold, the negative pressure adjustment mechanism is triggered; The negative pressure adjustment mechanism is as follows: If θ is caused by unilateral inclination, increase the output value of the corresponding side negative pressure air pump; If θ is caused by the overall center of gravity shift, all negative pressure air pumps synchronously increase the output value, and the increase amplitude has a linear relationship with θ.

[0019] Due to the adoption of the above technical solutions in the present invention, the beneficial effects of the present application are as follows. 1. The present invention provides a wall-climbing robot. By innovatively setting a double-layer inner and outer foot component structure, and combining a linear drive mechanism to drive the inner and outer foot components to generate relative linear movement to achieve alternating striding motion. The inner foot component drives the support plate to perform steering adjustment through a rotation mechanism, and the inner and outer feet work together to form a bionic gait motion mode. This structure breaks through the limitations of the single-layer adsorption of traditional wall-climbing robots. It can not only maintain at least three groups of suction cups in continuous contact with the wall surface through alternating adsorption of the inner and outer feet to form a redundant adsorption guarantee, but also can realize the crossing action with adjustable leg-lifting height by independently controlling each swinging adsorption unit with a servo motor. The actual measurement shows that it can stably climb over a vertical obstacle with a height up to 45% of the body size. Moreover, the innovatively designed double-layer adsorption architecture forms a natural fault tolerance mechanism. When a certain adsorption unit suddenly loses pressure, the adjacent unit can instantly increase the adsorption force to complete the load transfer, thus avoiding falling during the wall-climbing process. In addition, each swinging adsorption unit is equipped with an independent negative pressure air pump air supply system. Combining the real-time inclination feedback of the motion attitude sensor, the adsorption negative pressure value of the corresponding suction cup can be dynamically adjusted. When it is detected that the body tilt angle exceeds the tilt angle threshold, the adsorption force value of the suction cup in the corresponding direction is automatically increased to form an active anti-overturning mechanism. Such a setting enables the wall-climbing robot to stably adsorb on a complex wall surface with a surface roughness Ra≥12.5μm. Compared with the traditional centralized air supply scheme, the vacuum adsorption force loss rate is reduced by more than 67%. Through the coordinated cooperation of each swinging mechanism in the inner and outer foot components, the robot is given a motion mode with multiple degrees of freedom such as forward and backward displacement, lateral movement, and fixed-point turning, and can be applied to wall-climbing operations on complex working surfaces. This wall-climbing robot forms significant technical advantages in terms of obstacle-crossing performance, motion flexibility, working condition adaptability, and system reliability through multiple technological innovations such as bionic kinematics design, distributed pneumatic control, and modular joint architecture.

[0020] 2. The present invention provides a wall-climbing robot. The rotation mechanism is installed by sinking the rotary servo motor on the lower surface of the first frame, making full use of the longitudinal space inside the equipment and significantly reducing the overall center of gravity of the structure. The slewing bearing is arranged in the middle and cooperates with the axial positioning of the driven gear to form a stable rotation support system, ensuring that the support plate does not have radial offset during the rotation process.

[0021] 3. The present invention also provides a control method for a wall - climbing robot. Through the alternating adsorption mechanism of the inner foot assembly and the outer foot assembly in cooperation with the preset distance propulsion of the linear drive mechanism, the robot realizes continuous movement on a flat working surface. During the alternating adsorption process, the first and second swing adsorption units swing away from the working surface at a preset height, which not only reduces the frictional resistance between the suction cup and the wall surface but also avoids the instantaneous interruption of the vacuum adsorption force through an orderly disengagement timing. Thus, while ensuring the moving efficiency, the overall adsorption stability of the system is maintained, and the service life of the suction cup is significantly extended. When the vision component recognizes a high - span obstacle, the controller dynamically selects an obstacle - crossing mode according to the environmental information: for an obstacle that does not require turning, the effective adsorption contact surface is ensured when the suction cup crosses the obstacle by increasing the lifting height (the second preset height) of the swing adsorption unit to optimize the foot - end trajectory; for a working condition that requires turning to avoid an obstacle, the rotation mechanism is started to drive the relative angular deflection of the inner and outer foot assemblies, and the accurate control of the traveling direction is completed by combining the alternating adsorption timing. This hierarchical processing mechanism enables the robot to autonomously cope with different - shaped obstacles and greatly enhances the passability in a complex vertical surface environment. Based on the inclination data real - time monitored by the motion attitude sensor, when it is detected that the inclination angle of the robot exceeds the limit, the corresponding negative - pressure air pump is immediately controlled in a linkage manner to increase the adsorption force output. This negative - pressure closed - loop regulation strategy can quickly offset the overturning moment caused by surface unevenness or load changes and effectively prevent the slip risk caused by the failure of vacuum adsorption. Compared with the traditional scheme with a fixed adsorption force, this method avoids excessive energy consumption while ensuring a safety margin and realizes the dynamic balance between safety and energy efficiency ratio.

[0022] By decomposing actions such as linear propulsion, swing lifting, rotation steering, and negative - pressure regulation into independently controllable standardized operation units, each functional module can be parameterized and combined according to the operation requirements. This not only simplifies the complexity of the control logic but also provides a flexible interface expansion space for subsequent installation of different operation tools or adaptation to special working conditions, having significant engineering application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following - described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative efforts.

[0024] Figure 1 A three - dimensional schematic diagram of a wall - climbing robot disclosed by the present invention Figure 1 ; Figure 2 A three - dimensional schematic diagram of a wall - climbing robot disclosed by the present invention Figure 2 ; Figure 3 Top view schematic diagram of a wall - climbing robot disclosed by the present invention; Figure 4 Stereo schematic diagram of the inner foot assembly disclosed by the present invention; Figure 5 Partial stereo sectional view schematic diagram of a wall - climbing robot disclosed by the present invention; Figure 6 Stereo schematic diagram of the first swing adsorption unit or the second swing adsorption unit disclosed by the present invention; Figure 7 Stereo schematic diagram of the robotic arm device disclosed by the present invention.

[0025] Reference numerals: 1. Support plate member; 2. Outer foot assembly; 21. Second frame; 211. Half bracket; 22. Second swing adsorption unit; 221. Swing mechanism; 222. Suction cup; 223. Negative pressure air pump; 224. Swing base; 225. Active link; 226. Driven link; 227. Swing servo; 3. Inner foot assembly; 31. First frame; 311. First frame body; 312. Arm; 32. First swing adsorption unit; 33. Rotation mechanism; 331. Rotation servo; 332. Driving gear; 333. Driven gear; 334. Slewing bearing; 335. Shaft encoder; 4. Linear drive mechanism; 5. Robotic arm device; 51. Fixed seat; 52. First robotic arm; 53. Second robotic arm; 54. Operating attachment.

[0026] The realization, functional features and advantages of the object of the present invention will be further described in conjunction with the embodiments with reference to the drawings. Specific embodiments

[0027] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0028] It should be noted that all directional indications (such as up, down...) in the embodiments of the present invention are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0029] In addition, in the present invention, descriptions such as "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second" may explicitly or implicitly include at least one such feature.

[0030] Moreover, the technical solutions between various embodiments of the present invention can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0031] Embodiment 1

[0032] Refer to Figures 1-6 , the present invention provides a wall-climbing robot, including: A support plate member 1. Preferably, the support plate member 1 is made of aluminum alloy to reduce the overall weight. Specifically, a linear guide rail is provided on the top surface of the support plate member 1, and a rotary connection interface is provided at the center of the bottom surface for connecting to the rotary mechanism 33 of the inner foot assembly 3. An outer foot assembly 2 is slidably disposed on the top of the support plate member 1 through a linear drive mechanism 4. The outer foot assembly 2 includes a second frame 21 and a plurality of second swing adsorption units 22. The second frame 21 is composed of two symmetric half brackets 211. The fixed end of the linear drive mechanism 4 is fixed on the top surface of the support plate member 1, and the moving end is respectively fixedly connected to the half brackets 211 for driving the outer foot assembly 2 and the inner foot assembly 3 to move reciprocally in a straight line. The second swing adsorption units 22 are circumferentially distributed along the second frame 21, and the number is preferably 4 groups. Refer to Figure 6 , each second swing adsorption unit 22 includes a swing mechanism 221, a suction cup 222 disposed at the swing end of the swing mechanism 221, and a negative pressure air pump 223 for supplying air to the suction cup 222 separately. Refer to Figure 4 , an inner foot assembly 3 is disposed at the bottom of the support plate member 1, which includes a first frame 31, a plurality of first swing adsorption units 32, and a rotary mechanism 33 disposed on the first frame 31. The first frame 31 includes a first frame body 311 and four arms 312 circumferentially distributed around the first frame body 311. The arms 312 extend radially. A first swing adsorption unit 32 is installed at the bottom of the extending end of each arm 312. The structure of the first swing adsorption unit 32 is the same as that of the second swing adsorption unit 22, and its suction cup 222 is supplied with air by an independent negative pressure air pump 223. The rotation mechanism 33 is disposed at the central position of the first frame body 311, and its rotating end is fixedly connected to the support plate member 1 through a rotary connection interface. When the rotation mechanism 33 is started, it can drive the support plate member 1 and the outer foot assembly 2 to rotate around the vertical axis, realizing the overall turning of the robot; A motion attitude sensor (not shown in the drawings) is used to detect the inclination angle of the wall-climbing robot in real time and is communicatively connected to the negative pressure air pump 223 to increase the adsorption force by controlling the output negative pressure value of the corresponding negative pressure air pump 223; The motion attitude sensor, preferably a three-axis gyroscope or an inclination sensor, is installed on the support plate member 1 and is used to detect the inclination angle of the robot relative to the wall surface in real time; the motion attitude sensor is communicatively connected to each negative pressure air pump 223. When the detected inclination angle exceeds a preset threshold, an instruction is sent to the negative pressure air pump 223 in the corresponding area to increase the adsorption force of the suction cup 222 to prevent falling off; When the robot is moving forward, the outer foot assembly 2 slides alternately through the linear drive mechanism 4, driving the suction cup 222 to disengage / adsorb the wall surface; the inner foot assembly 3 adjusts the direction of the support plate member 1 through the rotation mechanism 33 to realize turning; during the movement process, the motion attitude sensor dynamically adjusts the negative pressure value of each suction cup 222 to ensure the adsorption stability; In the present invention, by innovatively setting the double-layer inner and outer foot assembly 2 structure, combining the linear drive mechanism 4 to drive the inner and outer foot assemblies 2 to generate relative linear movement to realize the alternating striding motion, and the inner foot assembly 3 drives the support plate member 1 to perform steering adjustment through the rotation mechanism 33, the inner and outer feet work together to form a bionic gait motion mode; this structure breaks through the limitation of the single-layer adsorption of traditional wall-climbing robots. It can not only maintain at least three groups of suction cups 222 in continuous contact with the wall surface through the alternating adsorption of the inner and outer feet to form a redundant adsorption guarantee, but also realize the striding action with adjustable lifting height of the legs through the independent servo motors controlling each swinging adsorption unit. The actual measurement shows that it can stably climb over a vertical obstacle with a height up to 45% of the body size; moreover, the innovatively designed double-layer adsorption structure forms a natural fault tolerance mechanism. When a certain adsorption unit suddenly loses pressure, the adjacent unit can instantaneously increase the adsorption force to complete the load transfer, thus avoiding falling during the wall-climbing process; In addition, each swinging adsorption unit is configured with an independent negative pressure air pump 223 air supply system. Combining the real-time inclination angle feedback of the motion attitude sensor, the adsorption negative pressure value of the corresponding suction cup 222 can be dynamically adjusted. When it is detected that the inclination angle of the fuselage exceeds the inclination angle threshold, the adsorption force value of the suction cup 222 in the corresponding direction is automatically increased to form an active anti-overturning mechanism; such a setting enables the wall-climbing robot to stably adsorb on a complex wall surface with a surface roughness Ra≥12.5μm. Compared with the traditional centralized air supply scheme, the vacuum adsorption force loss rate is reduced by more than 67%; Through the coordinated cooperation of each swing mechanism 221 in the inner and outer foot components 2, a motion mode with multiple degrees of freedom such as forward and backward displacement, lateral movement, and fixed-point steering is imparted to the robot, enabling wall-climbing operations on complex working surfaces; Through multiple technological innovations such as bionic kinematics design, distributed pneumatic control, and modular joint architecture, this wall-climbing robot has formed significant technological advantages in terms of obstacle-crossing performance, motion flexibility, working condition adaptability, and system reliability.

[0033] As a preferred embodiment, refer to Figure 6 , the swing mechanism 221 includes a swing base 224, a pair of active linkages 225 and driven linkages 226 arranged on both sides of the swing base 224, and a swing servo 227 arranged in the middle of the bottom surface of the swing base 224; The output rotating shafts at both ends of the swing servo 227 are respectively drivingly connected to one ends of the two active linkages 225 through splines, and the other ends of the two active linkages 225 are connected to the corresponding suction cups 222; One end of the driven linkage 226 is hinged to the corresponding side of the swing base 224, and the other end is connected to the corresponding suction cup 222; and the active linkage 225 and the driven linkage 226 on each side of the swing base 224 form a planar linkage mechanism; Specifically, in this embodiment, it further includes a suction cup 222 connecting member, the suction cup 222 connecting member is connected to the upper surface of the suction cup 222, and the other ends of the active linkage 225 and the driven linkage 226 are respectively connected to the corresponding sides of the suction cup 222 connecting member; The top surface of the swing base 224 is fixed to the half bracket 211 or the arm 312 by bolts, and an accommodation cavity is provided inside it for installing a negative pressure air pump 223, and the negative pressure air pump 223 is connected to the corresponding suction cup 222 to achieve negative pressure adsorption; The double planar linkage + single servo drive layout reduces the complexity of the mechanism and enables the suction cup 222 to swing at a large angle within a range of ±75°, so that each swing adsorption unit can adapt to curved surfaces and large-span obstacles; the design of the integrated accommodation cavity shortens the pipeline distance between the negative pressure air pump 223 and the suction cup 222, which can shorten the adsorption response time and also facilitate the flexible control of the adsorption pressure of each suction cup 222.

[0034] As a preferred embodiment, refer to Figure 1 and Figure 7 , a multi-degree-of-freedom robotic arm device 5 is further provided on the upper surface of the second frame 21, and a working attachment 54 is provided at the execution end of the robotic arm device 5 so that the working attachment 54 can flexibly execute working tasks; Specifically, the robotic arm device 5 includes a fixed base 51, a first robotic arm 52 and a second robotic arm 53 arranged on the support plate 1. The base of the first robotic arm 52 is rotatably mounted on the fixed base 51, and its end is connected to the second robotic arm 53 through a biaxial hinge; the end of the second robotic arm 53 is integrated with a binocular camera and a detachable working accessory 54, and the working accessory 54 adopts a quick-change interface and can be replaced with a cleaning head, a robotic claw or a spraying device; each joint of the robotic arm is built with a servo motor to achieve multi-degree-of-freedom movement.

[0035] As a preferred embodiment, the wall-climbing robot further includes a visual component, which includes a binocular camera and a laser radar, for collecting three-dimensional contour information of obstacles; in this embodiment, the binocular camera can be set at the end of the second mechanical arm 53, so as to obtain environmental information in all directions; In some embodiments, the binocular camera and the laser radar are integrated into the robot support plate 1 gimbal, the binocular camera baseline distance is 120 mm, and the laser radar adopts the TOF ranging principle. The data of the two are fused by the SLAM algorithm to generate a three-dimensional point cloud map, which can improve the obstacle recognition accuracy.

[0036] As a preferred embodiment, see Figure 4 and Figure 5 The rotating mechanism 33 includes a rotating steering gear 331, a driving gear 332, a driven gear 333 meshingly connected to the driving gear 332, and a slewing bearing 334 rotatably connected to the driven gear 333; the slewing bearing 334 is arranged in the middle of the first frame 31, and the driven gear 333 is fixedly connected to the support plate 1; Specifically, the outer ring of the slewing bearing 334 is fixed to the middle of the first frame 31, and the inner ring is connected to the extension shaft of the driven gear 333; the rotary servo 331 is installed at the bottom of the first frame 31, and its driving shaft passes through the frame and is connected to the driving gear 332 through a keyway. The gear ratio of the driving gear 332 to the driven gear 333 is 1:4, so that the support plate 1 and the outer foot component 2 arranged on the top thereof can be rotated and turned; the end of the slewing bearing 334 that deviates from the extension shaft is installed with an absolute value shaft encoder 335 for real-time feedback of the rotation angle to the controller; the gear reduction mechanism amplifies the torque of the rotary servo 331 by 4 times, and the bearing capacity of the support plate 1 is improved; The rotating mechanism 33 fully utilizes the longitudinal space inside the equipment and significantly reduces the center of gravity of the overall structure by installing the rotating servo 331 in a sunken manner on the lower surface of the first frame 31; the slewing bearing 334 is centrally arranged and cooperates with the axial positioning of the driven gear 333 to form a stable rotating support system, ensuring that the support plate 1 does not undergo radial displacement during rotation.

[0037] As a preferred embodiment, the linear driving power of the linear driving mechanism 4 is an electric push rod or a lead screw driving module; When the linear driving power is an electric push rod, its cylinder body is fixed on the support plate 1, and a slider is connected to the telescopic end. A linear guide is also provided on the support plate. The slider and the linear guide form a sliding pair. Two half brackets 211 are symmetrically fixed on both sides of the slider. The slider constitutes the moving end; When the linear driving power is a screw driving module, the screw driving module is installed on the supporting plate 1, and its screw nut constitutes the moving end, and the two half brackets 211 are symmetrically arranged on both sides of the screw nut; both schemes can realize linear adjustment of the spacing between the outer foot components 2, the electric push rod scheme has a rapid telescopic capability of 50mm / s, and the positioning accuracy of the screw scheme reaches 0.02mm. In actual applications, the corresponding linear driving power can be selected according to different working conditions; the symmetrical half bracket 211 layout reduces the center of gravity offset by 60% to prevent the robot from tipping over.

[0038] Example 2

[0039] The present invention also provides a control method for a wall-climbing robot as provided in Example 1, the steps of which include: S1. On a flat working surface, the linear drive mechanism 4 pushes the first preset distance each time, and the inner foot assembly 3 and the outer foot assembly 2 are alternately adsorbed on the working surface to advance and work; and in the alternating process, the first swing adsorption unit 32 and the second swing adsorption unit 22 swing each time by a first preset height to make their suction cups 222 separate from the working surface; Specifically, the specific steps of the straight line travel control method on a flat working surface are as follows: S11, the suction cup 222 of the inner foot component 3 is adsorbed on the working surface by the negative pressure air pump 223, and the suction cup 222 of the outer foot component 2 is in a detached state; S12, the controller sends a command to the linear drive mechanism 4 to drive the outer foot component 2 to move forward a first preset distance (preferably 50-100 mm) relative to the inner foot component 3; S13, the negative pressure air pump 223 of the outer foot assembly 2 starts adsorption, and at the same time, the swing mechanism 221 of the second swing adsorption unit 22 is actuated, so that the suction cup 222 is separated from the working surface at a first preset height (preferably 5-10 mm) and swings forward; S14, the negative pressure air pump 223 of the inner foot assembly 3 is turned off, and the first swing adsorption unit 32 is synchronously swung to a first preset height, so that the inner foot suction cup 222 is separated from the working surface and reset to the next adsorption position; S15, repeating steps S12 to S14, and achieving continuous straight-line travel by alternately adsorbing and swinging the inner and outer foot components 2; S2. When encountering a high-span obstacle, the vision component obtains the current environmental information and feeds it back to the controller; S21. Crossing control without turning: The vision component calculates the obstacle height H through point cloud data. If H ≤ the second preset height (preferably 15 - 20 mm), it is determined that no turning is required; The first swing adsorption unit 32 or the second swing adsorption unit 22 drives the suction cup 222 to swing to the second preset height (preferably 20 - 30 mm), so that the suction cup 222 re-adsorbs after crossing the obstacle; During the crossing process, the single push distance of the linear drive mechanism 4 is shortened to 50% of the original first preset distance to reduce the risk of center of gravity offset; S22. Obstacle avoidance control with turning required: If the width of the obstacle exceeds the width of the robot body (preferably, exceeds 1.5 times the width of the robot body), and the included angle of the feasible regions on both sides is greater than the preset value (preferably 30°), the controller generates a turning instruction; The rotation mechanism 33 is started to make the inner foot component 3 and the outer foot component 2 generate a relative rotation angle, and the negative pressure air pump 223 maintains the adsorption state during the turning process; The vision component real-time feeds back the working surface information after turning, and the controller adjusts the rotation angle until the path aligns with the target direction; S3. If the motion attitude sensor detects that the inclination angle of this wall-climbing robot exceeds the inclination angle threshold, control the output negative pressure value of the corresponding negative pressure air pump 223 to increase the adsorption force; Specifically, the motion attitude sensor real-time collects the robot inclination angle θ at a frequency of 100 Hz. When θ exceeds the inclination angle threshold (preferably 5° - 8°), the negative pressure adjustment mechanism is triggered; The negative pressure adjustment mechanism is as follows: If θ is caused by unilateral inclination (such as left inclination), then increase the output value of the corresponding side (left) negative pressure air pump 223, so that its negative pressure value is increased from the reference -50 kPa to -70 kPa; If θ is caused by the overall center of gravity offset, then all negative pressure air pumps 223 synchronously increase the output value, and the increase amplitude has a linear relationship with θ (such as when θ = 10°, the negative pressure value reaches -80 kPa).

[0040] The control method provided by the present invention realizes the continuous movement of the robot on a flat working surface through the alternating adsorption mechanism of the inner foot assembly 3 and the outer foot assembly 2 in cooperation with the preset distance advancement of the linear drive mechanism 4. During the alternating adsorption process, the first and second swing adsorption units 22 swing away from the working surface at a preset height, which not only reduces the frictional resistance between the suction cup 222 and the wall surface, but also avoids the instantaneous interruption of the vacuum adsorption force through the orderly disengagement timing, thereby maintaining the overall adsorption stability of the system while ensuring the movement efficiency and significantly extending the service life of the suction cup 222; when the vision component recognizes a high-span obstacle, the controller dynamically selects an obstacle-crossing mode according to the environmental information: for obstacles that do not require turning, the effective adsorption contact surface is ensured when the suction cup 222 crosses the obstacle by optimizing the foot-end trajectory by increasing the lifting height (the second preset height) of the swing adsorption unit; for working conditions that require turning to avoid obstacles, the rotation mechanism 33 is activated to drive the relative angular deflection of the inner and outer foot assemblies 2, and the accurate control of the traveling direction is completed by combining the alternating adsorption timing; this hierarchical processing mechanism enables the robot to independently cope with different forms of obstacles and greatly enhances the passability in complex vertical environments; Based on the inclination data real-time monitored by the motion attitude sensor, when it is detected that the inclination angle of the robot exceeds the limit, the corresponding negative pressure air pump 223 is immediately controlled in a linked manner to increase the adsorption force output. This negative pressure closed-loop regulation strategy can quickly offset the overturning moment caused by surface unevenness or load changes, and effectively prevent the slipping risk caused by the failure of vacuum adsorption. Compared with the traditional scheme with a fixed adsorption force, this method avoids excessive energy consumption while ensuring the safety margin, and realizes the dynamic balance between safety and energy efficiency ratio.

[0041] By decomposing actions such as linear propulsion, swing lifting, rotation steering, and negative pressure regulation into independently controllable standardized operation units, each functional module can be parameterized and combined according to the operation requirements, which not only simplifies the complexity of the control logic, but also provides a flexible interface expansion space for subsequent installation of different operation tools or adaptation to special working conditions, and has significant engineering application value.

[0042] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made under the inventive concept of the present invention by using the content of the specification and drawings of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A wall-climbing robot, characterized in that: include: Support panels, The outer foot assembly can be slidably arranged on the top of the support plate through a linear drive mechanism, and includes a second frame and a plurality of second swing adsorption units, and the plurality of second swing adsorption units are evenly distributed along the circumference of the second frame; the linear drive mechanism is arranged on the top surface of the support plate, and the second frame includes two symmetrically arranged half brackets, and the half brackets are respectively connected to the moving ends of the linear drive mechanism; The inner foot assembly is arranged at the bottom of the support plate, and includes a first frame, a plurality of first swing adsorption units, and a rotating mechanism arranged on the first frame, wherein the first frame includes a first frame body and a plurality of support arms uniformly distributed around the circumference of the first frame body, and the first swing adsorption units are respectively arranged at the bottom of the extension ends of the support arms; the rotating end of the rotating mechanism is connected to the support plate to drive the support plate and the outer foot assembly to turn; The first swing adsorption unit and the second swing adsorption unit have the same structure, and respectively include a swing mechanism and a suction cup arranged at the swing end of the swing mechanism, and a negative pressure air pump for supplying air to the suction cup separately; The motion posture sensor is used to detect the inclination angle of the wall-climbing robot in real time and is connected to the negative pressure air pump for communication so as to increase the adsorption force by controlling the output negative pressure value of the corresponding negative pressure air pump.

2. A wall-climbing robot according to claim 1, characterized in that: The swing mechanism includes a swing base, an active connecting rod and a driven connecting rod arranged in pairs on both sides of the swing base, and a swing steering gear arranged in the middle of the bottom surface of the swing base; The output shafts at both ends of the swing steering gear are respectively connected to one end of the two active connecting rods, and the other ends of the two active connecting rods are connected to the corresponding suction cups; One end of the driven connecting rod is hinged to the corresponding side of the swing base, and the other end thereof is connected to the corresponding suction cup.

3. A wall-climbing robot according to claim 2, characterized in that: The top surface of the swing base is connected to the half bracket or the extended end of the support arm; and the swing base is provided with a accommodating cavity for arranging a negative pressure air pump.

4. A wall-climbing robot according to any one of claims 1 to 3, characterized in that: The upper surface of the second frame is also provided with a multi-degree-of-freedom mechanical arm device, and the execution end of the mechanical arm device is provided with a working attachment so that the working attachment can flexibly perform working tasks.

5. A wall-climbing robot according to any one of claims 1 to 3, characterized in that: The rotating mechanism includes a rotating steering gear, a driving gear, a driven gear meshing and drivingly connected to the driving gear, and a slewing bearing rotatably connected to the driven gear; the slewing bearing is arranged in the middle of the first frame, and the driven gear is fixedly connected to the supporting plate; The rotary servo is mounted on the lower surface of the first frame, and its driving shaft passes through the first frame and is drivingly connected to the driving gear. The driven gear constitutes the rotating end of the rotating mechanism to drive the supporting plate and the outer foot assembly arranged on the top thereof to rotate and turn.

6. A wall-climbing robot according to any one of claims 1 to 3, characterized in that: The linear driving power of the linear driving mechanism is an electric push rod or a lead screw driving module; When the linear driving power is an electric push rod, the electric push rod is installed on the support plate, the support plate is also provided with a linear guide rail, the telescopic end is provided with a slider, the slider is matched and slidably arranged on the linear guide rail, the slider constitutes the moving end, and the two half brackets are symmetrically arranged on both sides of the slider; When the linear driving power is a screw drive module, the screw drive module is installed on the support plate, and its screw nut constitutes the moving end, and the two half brackets are symmetrically arranged on both sides of the screw nut.

7. A control method for a wall-climbing robot according to any one of claims 1 to 6, characterized in that: The steps include: S1. On a flat working surface, the linear drive mechanism pushes the first preset distance each time, and the inner foot assembly and the outer foot assembly are alternately adsorbed on the working surface to advance and work; and in the alternating process, the first swing adsorption unit and the second swing adsorption unit swing each time by a first preset height to make their suction cups leave the working surface; S2, when encountering a high-span obstacle, the visual component obtains the current environment information and feeds it back to the controller; If it is determined that no turning is required, the first swing adsorption unit or the second swing adsorption unit swings to a second preset height to make its suction cup separate from the working surface to complete the alternating adsorption; If it is determined that a turn is required, the rotation mechanism is activated to make the inner foot component and the outer foot component produce a relative rotation angle to achieve the turn; S3. If the motion posture sensor detects that the inclination angle of the wall-climbing robot exceeds the inclination angle threshold, the output negative pressure value of the corresponding negative pressure air pump is controlled to increase the adsorption force.

8. The control method according to claim 7, characterized in that: In step S1, the specific steps of the straight-line travel control method on a flat working surface are as follows: S11. The suction cup of the inner foot component is adsorbed on the working surface by a negative pressure air pump, and the suction cup of the outer foot component is in a detached state; S12, the controller sends a command to the linear drive mechanism to drive the outer foot assembly to move forward a first preset distance relative to the inner foot assembly; S13, the negative pressure air pump of the outer foot assembly starts adsorption, and at the same time, the swing mechanism of the second swing adsorption unit is actuated, so that the suction cup is separated from the working surface at a first preset height and swings forward; S14, the negative pressure air pump of the inner foot assembly is turned off, and the first swing adsorption unit is synchronously swung to a first preset height, so that the inner foot suction cup is separated from the working surface and reset to the next adsorption position; S15. Repeat steps S12 to S14 to achieve continuous straight-line movement through alternating adsorption and swinging of the inner and outer foot components.

9. The control method according to claim 7 or 8, characterized in that: In step S1, in step S2, the specific steps of the high-span obstacle crossing and steering control method are as follows: S21, Crossing control without turning: The visual component calculates the obstacle height H through the point cloud data. If H ≤ the second preset height, it is determined that no turning is required; The first swing adsorption unit or the second swing adsorption unit drives the suction cup to swing to a second preset height, so that the suction cup crosses the obstacle and then re-adsorbs; During the crossing process, the single pushing distance of the linear drive mechanism is shortened to 50% of the original first preset distance; S22, obstacle avoidance control requiring steering: If the width of the obstacle exceeds the width of the robot body, and the angle between the feasible areas on both sides is greater than the preset value, the controller generates a steering command; The rotating mechanism is started to make the inner foot component and the outer foot component produce a relative rotation angle, and the negative pressure air pump maintains the adsorption state during the turning process; The visual component provides real-time feedback of the work surface information after the turn, and the controller adjusts the rotation angle until the path is aligned with the target direction.

10. The control method according to claim 7 or 8, characterized in that: In step S3, the specific steps of the adaptive adsorption adjustment control method in the tilt state are as follows: The motion posture sensor collects the robot's tilt angle θ in real time. When θ exceeds the tilt angle threshold, the negative pressure adjustment mechanism is triggered; The negative pressure regulation mechanism is as follows: If θ is caused by unilateral tilt, increase the output value of the negative pressure air pump on the corresponding side; If θ is caused by the overall center of gravity shift, all negative pressure air pumps will increase their output values ​​synchronously.

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