Crawling and rolling double-motion-mode wall-climbing robot and method

Abstract

According to the crawling and rolling double-motion-mode wall-climbing robot and the method, in the crawling and rolling double-motion-mode wall-climbing robot, main bodies of a pair of center connecting pieces which are arranged in parallel are equilateral triangles, and three grooves are formed in the positions of the three sides of each center connecting piece; the three foot assemblies are detachably connected with the center connecting piece, the frame is connected with the center connecting piece, the motor is fixedly connected with the frame through a motor cover and screws, the friction foot part is connected with the frame in a matched mode through a rotating shaft and is in transmission connection with the motor through a transmission bevel gear, and the top of the friction foot part is provided with an extending friction foot tip. The robot comprises a high-friction area and a low-friction area, in the crawling process, two adjacent friction foot tips are selected as a front foot and a rear foot to make contact with the ground, a motor moves to drive the friction foot tips of the front foot and the rear foot to alternately swing, and a suction cup is connected with the friction foot part in a fastened mode and is switched between a wall adhering mode and a wall detaching mode.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robots, in particular to a wall-climbing robot and method with dual movement modes of crawling and tumbling. Background Art

[0002] A wall-climbing robot refers to an electromechanical system that moves with multiple degrees of freedom on surfaces such as vertical walls and ceilings, and has good application prospects and development needs. Existing wall-climbing robots usually have many joints and complex control, while tumbling robots can achieve cross-interface functions through simple joints.

[0003] Adhesion technology is a key technology for wall-climbing robots. Existing wall-climbing robots mainly use negative pressure adsorption, magnetic adsorption, electrostatic adsorption, and dry adhesion materials. Among them, magnetic adsorption has high limitations on the type of adhesion surface, electrostatic adsorption has poor stability and small adhesion force, and dry adhesion materials have poor controllability of desorption. Vacuum adsorption has high adaptability to the surface and controllable adsorption, and is suitable for wall-climbing robots in complex environments.

[0004] The information disclosed in the background art section is only used to enhance the understanding of the background of the present invention, and thus may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0005] In view of the deficiencies or defects existing in the prior art, a wall-climbing robot with dual movement modes of crawling and tumbling is provided. The adsorption ability is realized through a vacuum suction cup structure, and at the same time, the friction foot structure can be used to realize the fast movement ability on a plane. The present invention is miniaturized, has fast movement, and can be converted between surfaces, and can be used to solve the detection problem of narrow walls.

[0006] The object of the present invention is achieved by the following technical solutions.

[0007] A wall-climbing robot with dual movement modes of crawling and tumbling includes

[0008] A pair of centrally connected members arranged in parallel, the main body of which is an equilateral triangle, and three grooves are respectively provided at three sides;

[0009] Three foot assemblies, which are detachably connected to the centrally connected members. The foot assemblies include

[0010] A frame, which is connected to the centrally connected member via the groove,

[0011] A motor, which is fixedly connected to the frame via a motor cover and screws,

[0012] The friction foot component is cooperatively connected to the frame through a rotating shaft and is transmission-connected to the motor through a transmission bevel gear. There is a protruding friction foot tip at the top of the friction foot component, which includes a high-friction area and a low-friction area. During the crawling process, two adjacent friction foot tips are selected as the front foot and the rear foot to contact the ground, and the motor movement drives the friction foot tips of the front foot and the rear foot to perform an alternating swinging motion.

[0013] The suction cup is fixedly connected to the friction foot component and switches between adhering to the wall and detaching from the wall.

[0014] In the wall-climbing robot with the crawling and tumbling dual-motion mode, a semi-circular groove for adaptively fixing the motor is provided on the outer side of the frame.

[0015] In the wall-climbing robot with the crawling and tumbling dual-motion mode, the module of the transmission bevel gear is 0.5 and the number of teeth is 16.

[0016] In the wall-climbing robot with the crawling and tumbling dual-motion mode, the body of the friction foot component is 3D printed from ABS material, and the high-friction area is bonded to the body using rubber material.

[0017] In the wall-climbing robot with the crawling and tumbling dual-motion mode, the radius of the bottom contact part of the suction cup is 15 mm, and an external air pump is connected using an air pipe to achieve adhesion and detachment.

[0018] In the wall-climbing robot with the crawling and tumbling dual-motion mode, a silica gel soft pad is provided on the inner side of the motor cover.

[0019] In the wall-climbing robot with the crawling and tumbling dual-motion mode, three foot components are press-fitted and fixedly connected to the central connecting piece.

[0020] In the wall-climbing robot with the crawling and tumbling dual-motion mode, the low-friction area is a smooth surface.

[0021] In the wall-climbing robot with the crawling and tumbling dual-motion mode, the wall-climbing robot with the crawling and tumbling dual-motion mode is a centrosymmetric structure.

[0022] The usage method of the wall-climbing robot with the crawling and tumbling dual-motion mode includes the following steps.

[0023] During the crawling process, two adjacent friction foot tips are selected as the front foot and the rear foot to contact the ground. A signal is sent from the control board to the drive board to drive the motor to move, thereby driving the friction foot tips of the front foot and the rear foot to perform an alternating swinging motion. In the initial motion, the high-friction surface of the front foot contacts the ground, and the low-friction surface of the rear foot contacts the ground. By swinging the front foot backward and the rear foot forward simultaneously, a forward motion of one step is achieved. At this time, the low-friction surface of the front foot contacts the ground, and the high-friction surface of the rear foot contacts the ground. Now, swing the front foot forward and the rear foot backward simultaneously to achieve the second forward motion. Repeat this process to achieve the overall forward crawling motion;

[0024] During the rolling process, a friction foot component is selected, and the suction cup part is brought into contact with the ground. The wedge-shaped structure on its bottom surface forms a stable negative pressure anchor, and at the same time, the air pump is turned on to enable the suction cup to achieve adsorption. The suction cup that is anchored at this time is used as the first suction cup. Control the rotation of the friction foot component in the same way as the crawling process. At this time, the first suction cup has been anchored to the ground, and the robot rolls as a whole with the suction cup as the axis. When the second suction cup approaches the ground, rotate the second suction cup to adjust the angle so that the central axis of the suction cup is parallel to the normal direction of the wall surface. Further rotate the robot so that the second suction cup forms a seal with the ground. At this time, turn on the air pump to enable the suction cup to achieve adsorption. After the adsorption force threshold of the second suction cup is verified to meet the standard by the pressure sensor, turn off the air pump of the first suction cup to achieve desorption. Repeat this rotational motion so that the suction cups alternately achieve adsorption and desorption with the first suction cup, the second suction cup, and the third suction cup, thereby achieving the overall rolling motion of the robot.

[0025] Compared with the prior art, the beneficial effects brought by the present invention are:

[0026] The present invention realizes the adsorption ability for the outer surface through negative pressure adsorption, and can adapt to surfaces with various roughnesses. By controlling the rotation of the suction cups embedded inside the adsorption feet, the robot can achieve tumbling motions on vertical and top ceilings, and at the same time can adapt to surfaces with curvature and small obstacles. When the friction feet are rotated to an angle in contact with the surface, the anisotropy of the friction feet can be used to achieve the rapid unidirectional movement of the robot. In terms of structure, it is miniaturized and the layout is compact and reasonable, which can be better applied to narrow wall channels. With efficient motion control, the alternating swing of the friction foot components and the design of different friction areas enable the robot to move efficiently on a plane and achieve flexible steering through precise motor control. The efficient cooperation of the transmission bevel gears and the rotating shafts ensures the smooth operation of the friction foot components, improving the motion accuracy and efficiency of the robot. With stable adsorption ability, the suction cups achieve firm attachment to the outer surface through negative pressure adsorption, ensuring the stability of the robot in different postures. The wedge-shaped structure of the bottom contact part further enhances the adsorption ability of the suction cups, suitable for complex surfaces. Adapt to various environments. The robot adopts vacuum adsorption technology, can adapt to surfaces with various roughnesses, has strong environmental adaptability. The design of the high-friction area and low-friction area of the friction foot components enables the robot to move efficiently under different surface conditions and meet the requirements of various environments. Flexible posture conversion. Through the coordinated control of the suction cups and the friction foot components, the robot can achieve a smooth conversion from a plane to a vertical plane, suitable for inspection tasks in narrow wall channels. The central symmetric structure design enables the robot to maintain balance in different postures, enhancing the stability and reliability of the system.

[0027] The wall-climbing robot with dual crawling and tumbling motion modes of the present invention realizes efficient and flexible crawling and tumbling motions in complex environments through the coordinated work of the central connecting piece, the foot assembly, the transmission bevel gears, the friction foot components and the suction cups. Specifically, the alternating swing of the friction foot components and the design of different friction areas enable the robot to move quickly and stably on a plane, while the combination of the negative pressure adsorption of the suction cups and the rotation control of the friction foot components realizes the smooth conversion of the robot from a plane to a vertical plane. These designs work together to ensure the efficient motion and stable adsorption of the robot in different postures, significantly improving its detection ability and adaptability in narrow wall channels.

[0028] The above description is only an overview of the technical solution of the present invention. In order to make the technical means of the present invention clearer and understandable to the extent that those skilled in the art can implement it according to the content of the specification, and in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable, the following takes the specific implementation manners of the present invention as examples for illustration. Brief Description of the Drawings

[0029] By reading the detailed description in the following preferred specific embodiments, various other advantages and benefits of the present invention will become clear to those of ordinary skill in the art. The accompanying drawings of the specification are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts. Moreover, throughout the drawings, the same reference numerals are used to represent the same components.

[0030] In the drawings:

[0031] Figure 1 is a three-dimensional schematic diagram of the structure of the wall-climbing robot;

[0032] Figure 2 is an exploded view of the structure of the wall-climbing robot;

[0033] Figure 3 is a schematic diagram of the structure of the suction cup;

[0034] Figure 4 is a schematic diagram of the crawling of the robot using friction feet on a plane;

[0035] Figure 5 is a schematic diagram of the wall-climbing robot realizing the function of surface-to-surface conversion;

[0036] Reference numerals: 1 - suction cup; 2 - transmission bevel gear; 3 - bearing; 4 - rotating shaft; 5 - motor; 6 - frame; 7 - motor cover; 8 - friction foot component; 9 - central connecting piece; 10 - rubber material; 11 - screw.

[0037] The following further explains the present invention with reference to the drawings and embodiments. Specific Embodiments

[0038] The following will describe the specific embodiments of the present invention in more detail with reference to the drawings. Although the specific embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present invention can be more thoroughly understood and the scope of the present invention can be completely conveyed to those skilled in the art.

[0039] It should be noted that in the description and claims, certain terms are used to refer to specific components. Those skilled in the art should understand that technicians may use different terms to refer to the same component. The description and claims of this specification do not use the difference in terms as a way to distinguish components, but use the difference in the functions of components as the criterion for distinction. For example, the terms "comprising" or "including" mentioned throughout the specification and claims are open-ended terms, so they should be interpreted as "including but not limited to". The following description of the specification is the preferred embodiment for implementing the present invention, but the description is for the purpose of the general principles of the specification and is not used to limit the scope of the present invention. The scope of protection of the present invention shall be subject to what is defined by the appended claims.

[0040] For the convenience of understanding the embodiments of the present invention, the following will further explain with several specific embodiments in conjunction with the drawings, and each drawing does not constitute a limitation to the embodiments of the present invention.

[0041] For better understanding, as Figures 1 to 5 shown, a wall-climbing robot with a crawling and tumbling dual-movement mode includes

[0042] A pair of centrally connected members 9 arranged in parallel, the main body of which is an equilateral triangle, and three grooves are respectively provided at the positions of the three sides;

[0043] Three foot components, which are detachably connected to the centrally connected member 9 through the grooves. The foot components include

[0044] A frame 6, which is connected to the centrally connected member 9,

[0045] A motor 5, which is fixedly connected to the frame 6 through a motor cover 7 and screws 11,

[0046] A friction foot member 8, which is connected to the frame 6 through a rotating shaft 4 and is connected to the motor through a transmission bevel gear 2. The top of the friction foot member 8 has a protruding friction foot tip, which includes a high-friction area and a low-friction area. During the crawling process, two adjacent friction foot tips are selected as the front foot and the rear foot to contact the ground, and the motor 5 drives the friction foot tips of the front foot and the rear foot to perform an alternating swinging motion.

[0047] A suction cup 1, which is tightly connected to the friction foot member 8 and switches between adhering to the wall and detaching from the wall.

[0048] In the preferred embodiment of the wall-climbing robot with a crawling and tumbling dual-movement mode, a semi-circular groove for fitting and fixing the motor 5 is provided on the outer side of the frame 6.

[0049] In the preferred embodiment of the wall-climbing robot with a crawling and tumbling dual-movement mode, the module of the transmission bevel gear 2 is 0.5 and the number of teeth is 16.

[0050] In a preferred embodiment of the wall-climbing robot with a crawling and tumbling dual-motion mode, the body of the friction foot component 8 is 3D printed from ABS material, and the high-friction area is bonded to the body using rubber material 10.

[0051] In a preferred embodiment of the wall-climbing robot with a crawling and tumbling dual-motion mode, the radius of the bottom contact part of the suction cup 1 is 15 mm, and an external air pump is connected by an air pipe to achieve adhesion and detachment.

[0052] In a preferred embodiment of the wall-climbing robot with a crawling and tumbling dual-motion mode, a silica gel soft pad is provided inside the motor cover 7.

[0053] In a preferred embodiment of the wall-climbing robot with a crawling and tumbling dual-motion mode, the three foot components are tightly connected to the central connecting member 9 by interference fit.

[0054] In a preferred embodiment of the wall-climbing robot with a crawling and tumbling dual-motion mode, the low-friction area is a smooth surface.

[0055] In a preferred embodiment of the wall-climbing robot with a crawling and tumbling dual-motion mode, the wall-climbing robot with a crawling and tumbling dual-motion mode has a centrosymmetric structure.

[0056] The usage method of the wall-climbing robot with a crawling and tumbling dual-motion mode includes the following steps.

[0057] During the crawling process, select two adjacent friction foot tips as the front foot and the rear foot to make them contact the ground. Send a signal from the control board to the drive board to drive the motor to move, thereby driving the friction foot tips of the front foot and the rear foot to perform an alternating swinging motion. In the initial motion, the high-friction surface of the front foot contacts the ground, and the low-friction surface of the rear foot contacts the ground. By simultaneously swinging the front foot backward and the rear foot forward, a forward movement of one step is achieved. At this time, the low-friction surface of the front foot contacts the ground, and the high-friction surface of the rear foot contacts the ground. Now, simultaneously swing the front foot forward and the rear foot backward to achieve the second forward movement. Repeat this process to achieve the overall forward crawling movement.

[0058] During the rolling process, select a friction foot component to make the suction cup part contact the ground. The wedge-shaped structure on its bottom surface forms a stable negative pressure anchor, and at the same time, turn on the air pump to make the suction cup achieve adsorption. Take the suction cup anchored at this time as the first suction cup. Control the rotation of the friction foot component during the crawling process. At this time, the first suction cup has been anchored to the ground, and the robot makes an overall rolling motion with the suction cup as the axis. When the second suction cup approaches the ground, rotate the second suction cup to adjust the angle so that the central axis of the suction cup is parallel to the normal direction of the wall surface. Further rotate the robot so that the second suction cup forms a seal with the ground. At this time, turn on the air pump to make the suction cup achieve adsorption. After the adsorption force threshold of the second suction cup is verified to meet the standard by the pressure sensor, turn off the air pump of the first suction cup to achieve desorption. Repeat this rotational motion so that the suction cups alternately achieve adsorption and desorption with the first suction cup, the second suction cup, and the third suction cup, thereby realizing the overall rolling motion of the robot.

[0059] In one embodiment, the lower half of the friction foot component is in a circular ring shape. During the crawling process, select two adjacent friction foot tips as the front foot and the rear foot to make them contact the ground. Send a signal from the control board to the drive board to drive the motor to move, thereby driving the friction foot tips of the front foot and the rear foot to perform an alternating swinging motion. In the initial motion, the high-friction surface of the front foot contacts the ground, and the low-friction surface of the rear foot contacts the ground. By simultaneously swinging the front foot backward and the rear foot forward, one step of forward motion is achieved. At this time, it becomes the low-friction surface of the front foot contacting the ground and the high-friction surface of the rear foot contacting the ground. Now, simultaneously swing the front foot forward and the rear foot backward to achieve the second step of forward motion. Repeat this way to achieve the overall forward crawling motion. The suction cup is firmly connected to the lower half of the friction foot component and cooperates with the circular ring. During the rolling process, select a friction foot component to make the suction cup part contact the ground and at the same time turn on the air pump to make the suction cup achieve adsorption. Take the suction cup anchored at this time as the first suction cup part. Control the rotation of the friction foot component during the crawling process. Because the first suction cup has been anchored to the ground at this time, the robot makes an overall rolling motion with the suction cup as the axis. When the second suction cup approaches the ground, rotate the second suction cup so that the central axis of the suction cup is parallel to the normal direction of the ground. Further rotate the robot so that the second suction cup forms a seal with the ground. At this time, turn on the air pump to make the suction cup achieve adsorption. Turn off the air pump of the first suction cup to achieve desorption. Repeat this rotational motion so that the suction cups alternately achieve adsorption and desorption with the first suction cup, the second suction cup, and the third suction cup, thereby realizing the overall rolling motion of the robot.

[0060] In one embodiment, the wall-climbing robot with dual rolling and crawling motion modes includes:

[0061] A central connecting piece 9, whose main body is an equilateral triangle, and there are three grooves at the positions of the three sides. There are two identical connecting pieces arranged in parallel and placed at the central position of the robot;

[0062] Three identical detachable multi-functional foot components, which include,

[0063] A frame 6, which is connected to the central member and evenly placed at corresponding positions on the circumference,

[0064] A motor 5, which is fixedly connected to the frame 6 via a motor cover 7 and screws 11. A silica gel soft pad is provided inside the motor cover 7.

[0065] A friction foot component 8, which is connected to the motor 5 via a transmission bevel gear 2. One end of the friction foot component 8 is connected to the frame 6 via a left fixed bearing 3, and the other end is connected to the frame 6 via a right fixed bearing 3.

[0066] A vacuum suction cup 1, which is fixedly connected to the friction foot component 8.

[0067] The described connecting piece connects three frames 6. The parallel distribution on both sides ensures the stability of the frame 6 in the horizontal direction, and at the same time avoids the problem that the large volume of the connecting piece affects the overall quality of the robot.

[0068] The body of the described friction foot is 3D printed from ABS material, and the end is bonded together with materials with a relatively large coefficient of friction such as rubber material 10.

[0069] The suction cup 1 is made of Ecoflex00 - 50. The radius of the bottom contact part is 15 mm. It uses an air pipe to connect to an external air pump to achieve adhesion and desorption, as Figure 3 shown.

[0070] The selected motor 5 is a planetary reduction motor with a length diameter of 6 mm. The wires of the three motors 5 are led out and bundled together to connect to an external power supply to avoid the influence on the movement of the robot caused by external entanglement.

[0071] In this example, the structure of the friction foot is carefully designed to optimize the rapid crawling movement of the wall - climbing robot on a plane. As Figure 4 shown, the tip of the friction foot consists of a high - friction material and a low - friction area. The high - friction surface adopts a texture design to increase the contact force with the ground, while the low - friction area adopts a smooth surface to reduce resistance. During the crawling process, the tips of the friction feet of two adjacent friction foot components 8 are selected as the front foot and the rear foot to contact the ground. A signal is sent from the control board to the drive board to drive the motor 5 to move, thereby driving the tips of the friction feet of the front foot and the rear foot to perform an alternating swinging movement. In the initial movement, the high - friction surface of the front foot contacts the ground, and the low - friction surface of the rear foot contacts the ground. By simultaneously swinging the front foot backward and the rear foot forward, a forward movement of one step is achieved. At this time, the low - friction surface of the front foot contacts the ground, and the high - friction surface of the rear foot contacts the ground. Now, by simultaneously swinging the front foot forward and the rear foot backward, a second forward movement is achieved. Repeating this process realizes the overall forward crawling movement.

[0072] In this example, the wall-climbing robot realizes the function of surface-to-surface conversion from the horizontal plane to the vertical plane through the coordinated control of the adhesion and detachment of the suction cup 1 and the friction foot component 8. As Figure 5 shown, during the rolling process, select a friction foot component 8 to partially contact the ground with the suction cup 1 and at the same time turn on the air pump to make the suction cup 1 achieve adsorption, and use the suction cup 1 anchored at this time as the first suction cup part. Subsequently, the first motor 5 drives the first friction foot component 8 to rotate clockwise. Since the first suction cup 1 has been anchored to the ground at this time, the robot completes a rotational movement with the first suction cup 1 as the axis. When the second suction cup 1 approaches the ground, rotate the second suction cup 1 so that the central axis of the suction cup is parallel to the normal direction of the ground. Further rotate the robot so that the second suction cup 1 forms a seal with the ground, and at this time turn on the external air pump to make the suction cup 1 achieve adsorption. After the adsorption force threshold of the second suction cup 1 is verified to meet the standard by the pressure sensor, turn off the air pump of the first suction cup 1 to achieve detachment, and the robot is completely transferred to the vertical plane. Repeat this rotational movement so that the suction cup 1 alternately realizes adsorption and detachment with the first suction cup, the second suction cup, and the third suction cup, thereby realizing the overall rolling movement of the robot. Similarly, the robot can further realize the conversion from the vertical plane to the ceiling (elevation angle 180°) or in the reverse direction.

[0073] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, advantages, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, advantages, effects, etc. are essential for each embodiment of the present application. In addition, the above-disclosed specific details are only for the purposes of illustration and easy understanding, rather than limitations, and the above details do not limit the present application to necessarily adopt the above specific details to be implemented.

[0074] The above description has been given for purposes of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions, and sub-combinations thereof.

Claims

1. A wall-climbing robot with a crawling and tumbling dual motion mode, characterized in that: These include, A pair of parallel central connecting pieces, the main body of which is an equilateral triangle, with three grooves respectively provided at the positions of the three sides; Three foot assemblies, which are detachably connected to the central connecting member, the foot assemblies comprising: a frame connected to the central connecting piece via a groove, The motor is fixedly connected to the frame via a motor cover and screws, The friction foot component is connected to the frame through a rotating shaft and is connected to the motor through a transmission bevel gear. The top of the friction foot component has a protruding friction foot tip, which includes a high friction area and a low friction area. During crawling, two adjacent friction foot tips are selected as the front foot and the rear foot to contact the ground. The motor movement drives the friction foot tips of the front foot and the rear foot to perform alternating swinging motions. A suction cup is firmly connected to the friction foot member and switches between adhering to the wall and detaching from the wall.

2. The wall-climbing robot with a crawling and tumbling dual motion mode as claimed in claim 1, characterized in that: Preferably, a semicircular groove for adaptively fixing the motor is provided on the outer side of the frame.

3. The wall-climbing robot with a crawling and tumbling dual motion mode as claimed in claim 1, characterized in that: The module of the transmission bevel gear is 0.5 and the number of teeth is 16.

4. The wall-climbing robot with a crawling and tumbling dual motion mode as claimed in claim 1, characterized in that: The body of the friction foot component is made of ABS material by 3D printing, and the high friction area is bonded to the body using rubber material.

5. The wall-climbing robot with a crawling and tumbling dual motion mode as claimed in claim 1, characterized in that: The radius of the bottom contact part of the suction cup is 15 mm, and an air pipe is used to connect an external air pump to achieve adhesion and desorption.

6. The wall-climbing robot with a crawling and tumbling dual motion mode as claimed in claim 1, characterized in that: A silicone cushion is arranged on the inner side of the motor cover.

7. The wall-climbing robot with a crawling and tumbling dual motion mode as claimed in claim 1, characterized in that: The three foot assemblies are tightly connected to the central connecting piece by interference fit.

8. The wall-climbing robot with a crawling and tumbling dual motion mode as claimed in claim 1, characterized in that: The low friction area is a smooth surface.

9. The wall-climbing robot with a crawling and tumbling dual motion mode as claimed in claim 1, characterized in that: The wall-climbing robot with dual-motion modes of crawling and tumbling has a centrally symmetrical structure.

10. A method for using the wall-climbing robot with a crawling and tumbling dual motion mode as claimed in any one of claims 1 to 9.

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