Multi-mode composite adsorption wall-climbing robot

Abstract

The invention discloses a multi-mode composite adsorption wall-climbing robot. The multi-mode composite adsorption wall-climbing robot comprises a flying structure for providing flying power, a wall surface adsorption structure for providing adsorption force, a wall surface climbing structure for realizing walking and climbing functions and an adhesion inhabiting structure with an adhesion fixing function, the flying structure and the wall surface adsorption structure are arranged on the upper portion of the robot body of the wall surface climbing structure, and the adhesion inhabitation structure is arranged at the bottom of the wall surface climbing structure. Compared with a traditional wall surface adsorption robot, the wall surface adsorption robot can stay on the wall surface at any time through the claw of the bionic structure, the claw structure can stop on the wall surface without power consumption through the mechanical interlocking principle and can statically stay at the critical moment, and the adhesion structure and the mechanical claw can stop without power consumption; it is ensured that the robot can flexibly move in a complex environment and can be kept stable when fixed-point staying is needed, and the inspection efficiency and the task execution capacity are greatly improved.

Description

Technical Field

[0001] The present invention relates to robotics technology, and more particularly to a multi-modal composite adsorption wall-climbing robot. Background Art

[0002] With the acceleration of urbanization and the continuous expansion of infrastructure, the demand for inspections has become increasingly prominent in various fields. Traditional manual inspection methods have shown many shortcomings. Intelligent equipment such as drones and climbing robots have gradually been applied to industrial defect inspections, building inspections, environmental monitoring, search and rescue missions, and military reconnaissance.

[0003] In existing technologies, wall-attachment and flight functions are typically performed by two separate devices, each with its own limitations. For example, while climbing robots can operate freely on vertical and complex surfaces, providing high-precision local inspections, their range of motion is limited, and manual adjustment is often required. Aerial inspection drones offer high maneuverability and wide coverage, enabling rapid inspections of large areas. However, they often face challenges with stability and limited viewing angles when inspecting details and approaching complex structures.

[0004] To address the limitations of existing inspection equipment, multimodal robotics has become a research hotspot in recent years. By integrating different operating modes, such as flight, wall attachment, and ground walking, multimodal robots can flexibly switch between various environments, enabling efficient inspection operations. However, most existing multimodal robots face the following technical challenges:

[0005] 1. Energy consumption after attitude change: It mainly uses propellers to adjust the thrust direction to achieve switching between flying and climbing. If the flight and climbing process completely relies on the thrust generated by the flight propeller, the energy consumption will be very huge.

[0006] 2. Climbing efficiency issues during wall climbing: Existing wall-climbing robots typically use claws and spikes as a common gripping method, adopting a multi-legged gait for wall climbing. Although the multi-legged gait can provide stable gripping force, its movement method is relatively complex, and compared with wheel-driven climbing, gait-based climbing has a significant disadvantage in speed, especially in high-efficiency inspection tasks, where movement efficiency is low. On the other hand, wheel-driven climbing can provide higher movement efficiency, but due to the limitations of the wheel structure, it is impossible to achieve hovering or stationary operation on vertical walls, especially at high altitudes or in complex environments, making it difficult to meet the needs of fixed-point stopping.

[0007] 3. Impact during takeoff and landing: Current designs rarely consider the impact forces generated during takeoff and landing, which can damage the drone, landing surface, and perch. Due to the rapid attitude changes and landing speeds, impact forces can not only affect the integrity of the landing surface structure but also increase wear on the drone itself and its structure, shortening its service life. Summary of the Invention

[0008] The present invention overcomes the shortcomings of the existing technology and provides a multimodal composite adsorption wall-climbing robot, hoping to solve the problems of high energy consumption and low climbing efficiency of existing multimodal robots during climbing, as well as the large impact force during takeoff and landing that easily causes wear on the body and landing surface.

[0009] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0010] A multimodal composite adsorption wall-climbing robot comprises a flight structure providing flight power, a wall adsorption structure providing adsorption force, a wall climbing structure realizing walking and climbing functions, and an adhesive perching structure with an adhesive and fixing function; the flight structure and the wall adsorption structure are arranged on the upper part of the wall climbing structure, and the adhesive perching structure is arranged on the bottom of the wall climbing structure.

[0011] Optional: The wall climbing structure includes a mechanical claw hook, which includes multiple claws. The claw has a hook handle and a hook tip. The angle between the hook handle and the hook tip is less than 90°. The hook handle is fixedly connected to the robot body through an elastic component, and the hook tip can be attached to the wall; the claw can achieve up and down jumping and extension in a bionic state through the elastic component, ensuring that the hook tip can grab the concave and convex parts of the wall.

[0012] Optionally, the claws are distributed in a fan shape at the front end of the robot, so that the gripping area is larger and greater force is provided.

[0013] Optional: The mechanical claw hook also includes a spring frame, which is fixedly installed at the front end of the robot body. The front end of the spring frame is also provided with a plurality of slots, and the elastic component is arranged in the slots; the spring frame makes the connection between the elastic component and the robot body more stable.

[0014] Preferably: one side of the slot has a boss structure, and the other side of the slot has an annular groove buckle, one end of the spring is sleeved on the boss structure, and the other end of the spring is clamped in the annular groove buckle; the setting of the annular buckle can effectively prevent the spring and the spring frame from falling off, making the connection between the hook and the robot body more stable.

[0015] Optional: One end of the spring has a connecting rod, and the rear end of the hook handle has a socket, through which the hook claw is plugged into the connecting rod; the plug-in method of the connecting rod and the socket makes the connection between the claw hook and the spring more stable, preventing the hook claw from falling off during the grabbing process.

[0016] Optional: The adhesive perching structure includes a flexible bracket fixing plate, a flexible bracket base plate, two servos, and two connecting rods; a servo is installed on the flexible bracket base plate and the flexible bracket fixing plate respectively, one end of the two connecting rods is connected to the output shaft of the corresponding servo, and the other end is rotatably connected to the corresponding flexible bracket base plate or the flexible bracket fixing plate; the adhesive perching structure adopts a flexible bracket driven by a Z-shaped dual servo when unfolded, and can select the perching and support functions according to needs.

[0017] Optionally, the flexible support base is made of elastic material; the flexible support base can fit the surface of various habitats and can adapt to various scenarios when the animal is inhabiting.

[0018] Optional: The bottom of the flexible bracket base plate has a flexible adhesive patch, which adopts a multi-layer composite structure, with the outermost layer being an adhesive patch layer, the middle layer being an artificial muscle functional layer, and the inner layer being an auxiliary heating wire layer; this layered structure design allows the heat of the heating wire to be quickly and evenly transferred to the artificial muscle functional layer, and the contraction deformation of the artificial muscle can be effectively transferred to the adhesive patch layer, so that each functional layer can work together while maintaining independent functions.

[0019] Optional: The adhesive patch layer is made of PDMS material through MEMS process to form a micro-nano array structure, the artificial muscle function layer is made of liquid crystal elastomer material to form a sandwich-shaped columnar array structure, and the auxiliary heating wire layer uses a serpentine-arranged resistance heating wire array and is connected to the control system through wires.

[0020] Optional: The wall-climbing structure includes a robot body and a drive unit, which is mounted at the bottom of the robot body. The drive unit includes two drive wheels at the front of the robot body, two drive motors, and two driven wheels at the rear. The two driven wheels are mounted on either side of the robot body via driven shafts connected to the robot body. The driven shafts are symmetrically mounted at the front of the robot body. The wall-climbing structure drives the robot when traveling on the ground and climbing walls. The drive motor at the front drives the drive wheels through speed differences to achieve forward and backward movement and 360° steering, enabling the robot to perform multi-angle inspection and observation.

[0021] Optional: The driving wheel and the driven wheel are both made of plastic with an adhesive flexible material on the surface; the outer edges of the driving wheel and the driven wheel are serrated; the flexible material helps the robot cushion, and the flexible serrated tires can provide a larger grip area, reducing power loss while providing greater grip when climbing walls.

[0022] Optional: The flight structure includes a rotor bracket, a first flight bracket, a first motor, and a two-blade propeller; there are multiple first flight brackets, one end of which is fixedly connected to the rotor bracket, and the rotor bracket is fixedly connected to the top of the robot body; each first flight bracket is installed with a first motor away from the rotor bracket end, and a two-blade propeller is fixedly installed on the output shaft of each first motor; the flight structure helps the robot achieve wide-angle observation and long-distance movement, so that the robot can adapt to a variety of work tasks.

[0023] Optional: The wall adsorption structure includes a second flight bracket, a second motor, a multi-blade propeller, and a propeller protective cover; one end of the second flight bracket is fixedly connected to the rotor bracket, the second motor is fixedly installed on the second flight bracket away from one end of the rotor bracket, and the multi-blade propeller is fixedly connected to the output shaft of the second motor; one end of the propeller protective cover is fixedly connected to the rotor bracket, and the multi-blade propeller cover is arranged inside it, and the wall adsorption structure has two groups, which are respectively located at the front and rear ends of the central axis of the robot body; the wall adsorption structure can effectively and stably adsorb the robot on the wall, and the multi-blade propeller provides a stronger adsorption force than the flight structure, which can effectively reduce energy consumption.

[0024] Compared with the prior art, the present invention has at least the following beneficial effects:

[0025] 1. Traditional wall-adsorption robots often have problems with insufficient or unstable adsorption force when dealing with complex surfaces, especially on uneven surfaces or under high-load tasks. Currently, propellers are mostly used to provide thrust to achieve adaptability to different wall surfaces. However, if the adsorption force of the wall is solely provided by the propeller, it will easily become unstable and fall off the wall once there is a fluctuation in battery power or the influence of ambient airflow. This solution adopts a composite adsorption technology such as the combination of a propeller and a claw structure. During the climbing process, the propeller provides positive pressure adsorption while the claw is used to grab the protrusions or depressions of the rough wall to achieve adsorption on the rough wall. This adsorption method has high applicability and safety for rough surfaces, especially the adhesion based on the grab is relatively safe, because even when the adsorption force provided by the propeller is insufficient, the mechanical claw will form a mechanical interlock with the wall, which will not cause the robot to fall off. The hook, connected to a lightweight spring, offers both pitch and extension freedom, automatically adjusting to the roughness of the wall and ensuring reliable adhesion. The propeller's thrust and the hook's gripping force combine to maximize friction between the robot and the wall. When the robot is climbing a surface, if the surface friction is high enough, the robot itself will not rotate, allowing for stable climbing. This solution significantly improves the stability of wall adhesion, enabling more secure attachment to different wall types and maintaining stable operation for extended periods, even in complex environments.

[0026] 2. In existing wall-climbing robots, claws and spikes are a common method of grasping and attachment, typically using a multi-legged gait for wall climbing. While the multi-legged gait provides stable grasping, its movement is complex and, compared to wheel-driven systems, gait-based climbing suffers from a significant speed disadvantage, particularly in high-efficiency inspection tasks, resulting in lower movement efficiency. On the other hand, wheel-driven systems offer high mobility, but due to the limitations of the wheel structure, they cannot hover or remain stationary on vertical walls. This makes it difficult to achieve fixed-point stabilization, especially at high altitudes or in complex environments. This solution combines the advantages of wheels and claws. The wheels provide flexible and rapid mobility, while the claw structure, through mechanical interlocking principles, enables zero-power pausing on the wall, allowing it to remain stationary at critical moments. This combined solution not only ensures the robot's flexible mobility in complex environments but also maintains stability when a fixed-point stabilization is required, significantly improving inspection efficiency and task execution capabilities. This can significantly reduce labor costs and improve safety, particularly in the field of urban infrastructure inspection.

[0027] 3. In order to overcome the limitation of the power source, an adhesion structure is proposed, which can enable the robot to hover and extend the mission life. Traditional multimodal robot propellers are usually hindered by limited mission life. In vehicles weighing less than 1 kg, the mission life does not exceed a few minutes. Therefore, if the robot has the ability to perch on the wall, its mission time can be extended. After the robot of the present invention provides pre-compression force through the positive pressure adsorption structure (i.e., wall adsorption structure), the adhesion structure can stably adhere to various wall surfaces; during adhesion, the normal adhesion force of a single bristle can reach up to 40μN, and the adhesion strength can reach 0.576 N / mm 2 , the adsorption force it can provide far exceeds its own gravity; due to the ubiquitous existence of intermolecular forces, bionic adhesion is not restricted by external conditions such as vacuum, and in theory it can adhere to any material; in addition, bionic adhesion is mainly caused by the interaction between van der Waals forces and friction, which requires almost no additional energy and consumes little energy. By creating artificial muscles to imitate the eversion and adduction of gecko toes, controllable adhesion and detachment can be achieved. Mastering and imitating the behavior of gecko toes can greatly improve the performance of artificial materials. When not needed, the adhesive structure and mechanical claw can be stopped without power consumption, giving it the opportunity to complete tasks such as inspection and monitoring that require a longer time. This solution not only improves energy efficiency, but also extends operating time, reduces dependence on frequent charging or battery replacement, and enhances its ability to continue operating in actual tasks.

[0028] 4. When faced with complex and ever-changing environments, traditional robots often need to switch between different devices to complete tasks. This practice not only increases task execution time but can also affect overall performance due to compatibility issues between devices. However, this solution, by integrating multiple modes such as aerial flight, wall adhesion, climbing, and land driving, can flexibly adjust the working mode according to task requirements and perform more complex and diverse tasks. This allows the robot to flexibly cope with different environments such as the ground, walls, and air in the same scenario. For example, the robot can quickly reach the target area in flight mode, then switch to wall adhesion mode for precise operations, and even switch to climbing mode when needed to complete different types of tasks. This high degree of task adaptability and efficiency gives the robot a huge advantage in tasks such as high-rise buildings, tunnels, and complex terrain. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 This is a schematic diagram of the installation position of the adhesive habitat structure of the present invention;

[0031] Figure 3 This is a schematic diagram of the flight structure of the present invention;

[0032] Figure 4Schematic diagram of the adsorption structure of the present invention;

[0033] Figure 5 This is a schematic diagram of the structure of the walking member of the climbing structure of the present invention;

[0034] Figure 6 This is a schematic diagram of the assembled state of the spring rack of the present invention;

[0035] Figure 7 Schematic diagram of the spring structure of the present invention;

[0036] Figure 8 This is a schematic diagram of the hook structure of the present invention;

[0037] Figure 9 This is a schematic diagram of the adhesion and habitat structure of the present invention;

[0038] Figure 10 This is a diagram showing the change from the flight state to the wall climbing state of the present invention;

[0039] Figure 11 This is a schematic diagram of the adhesive habitat structure of the present invention in use;

[0040] Figure 12 This is a schematic diagram of the present invention's transition from a walking state to a wall-climbing state;

[0041] Figure 13 This is a schematic diagram of the card slot structure of the present invention;

[0042] The numbers in the figure are as follows: 1, flight structure; 101, rotor bracket; 102, first flight bracket; 103, first motor; 104, two-blade propeller;

[0043] 2. Wall adsorption structure; 201. Second flight support; 202. Second motor; 203. Multi-blade propeller; 204. Propeller protection cover;

[0044] 3. Wall climbing structure; 301. Robot body; 302. Driving wheel; 303. Driven wheel; 304. Driving motor; 305. Driven shaft; 306. Spring frame; 307. Spring; 308. Hook; 309. Slot; 310. Socket; 311. Connecting rod; 312. Hook handle; 313. Hook tip; 314. Boss structure; 315. Annular groove buckle;

[0045] 4. Adhesion of the habitat structure; 401. Flexible support fixing plate; 402. Flexible support base plate; 403. First servo; 404. Second servo; 405. First connecting rod; 406. Second connecting rod; 407. First rotational pair; 408. Second rotational pair; 409. Adhesion patch. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0047] like Figure 1 、 Figure 2 As shown, a multimodal composite adsorption wall-climbing robot includes: a flying structure 1, a wall adsorption structure 2, a wall climbing structure 3 and an adhesion perching structure 4; the flying structure 1 and the wall adsorption structure 2 are arranged on the upper part of the wall climbing structure 3, and the adhesion perching structure 4 is arranged at the bottom of the wall climbing structure 3; the flying structure 1 provides flight power for the robot, the wall adsorption structure 2 provides adsorption force for the robot when the robot is in the climbing state, the wall climbing structure 3 realizes ground walking and wall climbing after the robot lands, and the adhesion perching structure 4 adheres and fixes the robot when perching, while reducing the impact force during landing and providing a certain amount of support force when climbing in corners.

[0048] like Figure 3 As shown: the flight structure 1 includes a rotor bracket 101, a first flight bracket 102, a first motor 103, and a two-blade propeller 104; there are multiple first flight brackets 102, one end of which is fixedly connected to the rotor bracket 101, and the rotor bracket 101 is fixedly connected to the top of the robot body 301; each first flight bracket 102 is respectively installed with a first motor 103 away from the rotor bracket end, and a two-blade propeller 104 is fixedly installed on the output shaft of each first motor 103; preferably, there are four first flight brackets 102, and the four first motors 103 are arranged at the four corners of the robot in an X-shaped quadrotor arrangement, and the four groups of two-blade propellers 104 are located in the same horizontal plane; preferably, the first motor 103 is a brushless motor; when in use, the propeller rotates, and the lift generated is perpendicular to the rotor bracket 101 upward, thereby realizing the take-off and landing of the robot. The diameter of a single propeller blade is 114 mm, the wheelbase between adjacent first motors 103 in the transverse and longitudinal directions is 2.2 times and 2.36 times the propeller diameter respectively, and the wheelbase between diagonal two-blade propellers 104 is 3.23 times the propeller diameter; the rotor bracket 101 and the first flight bracket 102 are both printed with any one or any combination of polycarbonate material, organic glass sheet material, and carbon fiber material. These materials are relatively light and have high impact resistance, which helps to reduce the weight of the robot while ensuring the strength of the robot; and the interior of the rotor bracket 101 is hollow, and the power battery is installed inside the rotor bracket 101, which further optimizes the robot structure and reduces the size of the robot; the first flight bracket 102 is also provided with a wire groove, and the connecting wires between the first motor 103 and the power battery are arranged in the wire groove to ensure that the cables are reasonably arranged, effectively avoiding the cables from rubbing against external objects during flight or crawling, thereby interfering with the robot operation.

[0049] like Figure 4 As shown, the wall adsorption structure 2 includes: a second flight bracket 201, a second motor 202, a multi-blade propeller 203, and a propeller protective cover 204; one end of the second flight bracket 201 is fixedly connected to the rotor bracket 101, and the second motor 202 is fixedly mounted on the second flight bracket 201 away from one end of the rotor bracket 101, and the multi-blade propeller 203 is fixedly connected to the output shaft of the second motor 202; the second motor 202 is a brushless motor and is electrically connected to the power battery; the multi-blade propeller 203 is located on the central axis of the robot body 301 and is lower than the two-blade propeller 104 of the flight structure 1 in the vertical direction. In the horizontal direction, it is located within the two-blade propeller 104 of the flight structure, and slightly lower than the two-blade propeller 104 of the flight structure 1 in the vertical direction, so as to achieve effective adsorption force; one end of the propeller protective cover 204 is fixedly connected to the rotor bracket 101, and the multi-blade propeller 203 is covered inside it, and the propeller protective cover 204 and the multi-blade propeller 203 are in the same horizontal plane; the wall adsorption structure 2 has two groups, which are respectively located at the front and rear ends of the robot body 301; the single blade diameter of the multi-blade propeller 203 is 70 mm, which provides 15% more thrust than the two-blade propeller of the same diameter, greatly saving the overall space. When the robot enters wall-climbing mode, the multi-blade propeller 203 rotates at high speed, drawing air away from the wall. This creates a low-pressure area below atmospheric pressure between the multi-blade propeller 203 and the wall, while a high-pressure area above atmospheric pressure forms on the other side of the multi-blade propeller 203. This air pressure creates a thrust perpendicular to the wall on the surface of the multi-blade propeller 203, allowing the robot to cling to the wall. The propeller shield 204 can effectively prevent the multi-blade propeller 203 from directly contacting other objects, while also reducing airflow disturbances and providing a more stable airflow to ensure the stability of the adsorption effect. When the wall adsorption structure adjusts the robot's posture to move toward the wall, the flexible wheels at the front end of the robot first contact the wall, which can increase the robot's pitch angle. This mechanism makes the transition faster and is not affected by the gyroscope effect.

[0050] like Figure 2 and Figure 5As shown, the wall climbing structure 3 includes: a robot body 301 and a driving unit, the driving unit is installed at the bottom of the robot body 301, and when the robot state is converted to a wall climbing state or a ground driving state, the driving unit drives the robot forward, backward and turns, and supports the entire robot through tires; the specific driving unit includes two driving wheels 302 arranged at the front of the robot body 301, two driving motors 304 and two driven wheels 303 at the rear, the two driven wheels 303 are installed on both sides of the robot body 301 through a driven shaft 305, the driven shaft 305 is connected to the robot body 301, and the two driving wheels 302 are respectively fixed to the output shafts of the corresponding driving motors 304 The robot's main body is fixedly connected, with drive motors 304 symmetrically mounted at the front end. Two driven wheels 303 and a drive wheel 302 are located at the four corners of the robot's main body 301, supporting the robot. By controlling the differential speed of the two drive motors 304, the robot can move forward, backward, and 360° on walls. Both the drive wheels 302 and the driven wheels 303 are made of plastic, with an adhesive flexible material, such as polyurethane, attached to their surfaces. The outer edges of the drive wheels 302 and the driven wheels 303 are serrated, increasing friction and improving the vehicle's grip. Simultaneously, the flexible material reduces some of the impact force during the robot's state transitions. The serrated wheels enable the robot to navigate freely on various surfaces and steer quickly, ensuring flexibility and efficiency in complex environments.

[0051] The wall climbing structure 3 also includes a mechanical claw hook, such as Figure 6 、 8 As shown, the mechanical claw hook is a bionic structure, and the hook tip 313 of its claw 308 can grab the concave and convex parts of the wall; the specific mechanical claw hook includes a spring frame 306, multiple springs 307 and multiple claws 308, the spring frame 306 is a mounting frame for the claw 308, a connecting component between the claw 308 and the robot body 301 and a limiting component of the claw 308; Figure 2 As shown, the spring frame 306 is fixedly installed at the front end of the robot body 301. The front end of the spring frame 306 is also provided with a plurality of slots 309. A spring 307 is installed in each slot 309. The spring 307 is a light torsion spring. The slot 309 adopts a two-way limiting structure (such as Figure 13), including a boss structure 314 set at one end, the boss structure 314 is cylindrical, and its diameter matches the inner diameter of the coil of the spring 307. During installation, one end of the spring 307 is sleeved on the boss structure 314, and the spring 307 and the boss structure 314 are interference fit, thereby achieving axial fixation of the spring 307; the other end of the slot 309 is provided with an annular groove buckle 315, and the annular groove buckle 315 is provided with a circular groove that completely matches the wire diameter of the spring 307. During installation, a slight rotational force is applied to embed the last coil of the spring 307 without a connecting rod into the circular groove first. The outer wall of the circular groove of the annular groove buckle 315 acts as a buckle to fit into the gap between the spring coils to achieve circumferential positioning. This two-way limiting structure not only ensures the convenience of installation, but also ensures the stability of the spring 307 during operation. Once the spring 307 is installed in place, it can effectively prevent the spring 307 from displacement, such as Figure 6 As shown; one end of the spring 307 has a connecting rod 311, and the spring 307 is connected to the claw 308 through the connecting rod 311; the claw 308 has a hook handle 312 and a hook tip 313, and the claw 308 is prepared by laser sintering technology. The hook handle 312 and the hook tip 313 are naturally bent into a fishhook shape, and the angle between the hook handle 312 and the hook tip 313 is less than 90°; the rear end of the hook handle 312 has a socket 310, and the claw 308 is plugged into the connecting rod 311 through the socket 310; when the claw 308 is plugged into the connecting rod 311, glue is also applied between the claw 308 and the connecting rod 311 to further make the connection between the claw 308 and the connecting rod 311 more firmly. Multiple hooks 308 are evenly distributed at the front end of the robot body 301. The hook tip 313 of each hook 308 is tilted downward so that its lowest point is slightly lower than the bottom horizontal plane of the wheel 302. When the robot switches from the flying state to the wall climbing state, the hook tip 313 of the hook 308 can contact the wall before the wheel 302, generating elastic deformation, and realizing bionic grasping of the climbing wall through the hook 308, providing additional grasping force for the robot in the wall climbing state.

[0052] When the robot enters the wall climbing state, the wall adsorption structure 2 provides adsorption force to make the robot stick to the wall, and the driving motor 304 drives the driving wheel 302 to rotate to realize the movement of the robot position. During the movement of the robot position, the hook tip 313 of the claw 308 contacts the concave and convex parts of the wall. Since the connecting part of the claw 308 is the spring 307, and there is an acute angle between the hook tip 313 and the hook handle 312, the claw 308 can realize the up and down jumping and extension in the bionic state; when the robot is hovering, the hook tip 313 of the claw 308 can grasp the convex or concave part of the wall, realize mechanical interlocking with the wall, and provide additional gripping force for the robot; the wall adsorption structure 2 complements and cooperates with the mechanical claw hook and the serrated wheel, so as to realize the robot hovering at any time, overcoming the limitation that the robot with wheels cannot stay still on the wall. The mechanical claw structure and the adhesive perching structure 4 can relieve the burden on the multi-blade propeller 203 during operation. The mechanical claw can grasp the unevenness of the wall during the climbing process or the perching process, and share the load of the robot to effectively reduce the robot's energy consumption; the adhesive perching structure 4 and the mechanical claw structure can achieve zero-power pause according to task requirements, thereby extending the robot's task time and giving it the opportunity to complete tasks such as inspection and monitoring that require a longer time.

[0053] like Figure 9As shown, the adhesive habitat structure 4 utilizes a flexible support that, when deployed, forms a Z-shaped structure driven by dual servos. The structure primarily comprises a flexible support fixing plate 401, a flexible support base plate 402, a first servo 403, a second servo 404, a first connecting rod 405, and a second connecting rod 406. The flexible support fixing plate 401 is fixedly connected to the bottom of the robot body 301. The first servo 403 is fixedly mounted on the bottom of the flexible support fixing plate 401. The output shaft of the first servo 403 is fixedly connected to one end of the first connecting rod 405. The end of the first connecting rod 405, away from the first servo 403, is connected to the flexible support base plate 402 via a first rotational joint 407. The second servo 404 is fixedly mounted on the flexible support base plate 402. The output shaft of the second servo 404 is fixedly connected to one end of the second connecting rod 406. The end of the second connecting rod 406, away from the second servo 404, is connected to the flexible support fixing plate 401 via a second rotational joint 408. The axes of all rotating pairs are arranged parallel to the wall, so that the rotation of the connecting rod will not affect the vertical fit of the flexible bracket base plate 402 with the wall. The servo can control the free rotation of the connecting rod from 0° to 180°, thereby realizing the extension and retraction of the flexible bracket, and can perform the functions of perching and supporting according to needs. The flexible bracket base plate 402 is made of elastic material and has a flexible adhesive patch 409 at the bottom to form a flexible compensation mechanism. The dual-servo collaborative control strategy can accurately adjust the spatial posture of the base plate, and effectively compensate for the unevenness of the wall surface with the elastic deformation ability of the flexible bracket base plate 402 itself and the flexible characteristics of the adhesive patch; the Z-shaped structure can generate sufficient normal contact pressure when in the extended state. This design not only maintains the rigidity of the structure, but also achieves a planar adaptive ability that is superior to the single-servo structure through dual-degree-of-freedom motion coupling.

[0054] Adhesive patch 409 utilizes a multi-layer composite structure, specifically comprising the following layers: the outermost layer is an adhesive patch layer, which directly interacts with the contact surface. It is fabricated using PDMS material through a MEMS process into a micro-nano array structure, providing van der Waals forces and negative pressure adsorption. The middle layer is the artificial muscle functional layer, constructed from a liquid crystal elastomer (LCE) material in a sandwich-like columnar array structure, achieving controllable deformation through temperature response. The innermost layer is an auxiliary heating wire layer, comprising a serpentine array of resistive heating wires connected to a control system via wires. Each functional layer is securely bonded together using a flexible adhesive. The heating wire layer maintains close thermal contact with the artificial muscle layer to ensure efficient heat transfer, while the artificial muscle layer and adhesive patch layer are elastically connected via a flexible adhesive to transfer deformation. This layered design allows for rapid and uniform heat transfer from the heating wires to the artificial muscle layer, effectively transferring contraction and deformation of the artificial muscle to the adhesive patch layer, enabling each functional layer to function collaboratively while maintaining its independent functions.

[0055] The robot of the present invention has a total weight of about 3 kg and can generate an adsorption force of about 30 N.

[0056] Specific usage:

[0057] The process of changing from flying attitude to climbing attitude is as follows Figure 10 As shown: when the robot is transformed from a flying posture to a wall-climbing posture, the flying structure 1 drives the robot to slowly approach the wall and reduce the flying speed. When it is a few centimeters away from the wall and the flight is stable, the power output of the two two-blade propellers 104 on the nose is instantly increased, causing the robot's fuselage to tilt, and at the same time, the multi-blade propeller 203 of the wall adsorption structure 2 is started. The two multi-blade propellers 203 must rotate in different directions to provide a thrust perpendicular to the robot body 301 pointing to the wall, so that the robot body 301 is adsorbed on the wall; in this process, the driving wheel 302 at the front first contacts the wall and moves forward slowly. The flexible material on the surface of the driving wheel 302 avoids direct collision between the robot body 301 and the wall, while increasing the driving wheel 302 and the friction between the wall; the hook tip 313 of the hook claw 308 contacts the wall and is squeezed by the wall, the corresponding spring 307 undergoes elastic deformation, and the hook claw 308 generates a gripping force on the wall to prevent the robot from falling off; the hook claw 308 and the wall adsorption structure 2 work together to maximize the friction between the driving wheel 302 and the wall, generating a stable adsorption force for the robot, and then the robot can continue to move until the driven wheel 303 is also in complete contact with the wall; in order to prevent the robot from flipping over or falling, it is necessary to simultaneously generate a pressure difference through the multi-blade propeller 203 of the wall adsorption structure 2 to apply a small thrust to the robot so that the robot is adsorbed on the wall; finally, the drive motor 304 controls the rotation speed of the driving wheel 302, which can be converted into a wall climbing posture.

[0058] The process of changing from flying attitude to driving attitude is as follows Figure 11 As shown: when the robot changes from a flying posture to a driving posture, it first reduces its flying speed and slowly approaches the ground, and extends the flexible bracket base plate 402 through the servo, and the bottom of the flexible bracket base plate 402 and the adhesive patch 409 at its bottom adhere to the ground or other surfaces and dock, so that it can be temporarily perched or adsorbed on a moving object; after the robot is stably stationary, the flexible bracket base plate 402 can be retracted, and the robot can be driven arbitrarily on the ground by four wheels to change to a driving posture; it can also directly use the wheels to land when landing, and the flexible material on the wheel surface can effectively alleviate the impact force from the air to the ground.

[0059] The process of changing posture from the ground to the wall is as follows Figure 12As shown, when the robot transitions from a driving posture to a wall-climbing posture, it first slowly drives to the wall until the wheels make contact. The flexible material on the wheel surface effectively mitigates the robot's impact with the wall and increases friction with the wall. The servo then extends the flexible support base. Because the flexible support fixing plate 401 is located at the front of the robot, gravity at the rear end causes the front end to tilt upward, allowing the front drive wheels to easily climb the wall without getting stuck. The flexible support is then slowly retracted, and the wheel rotation speed is controlled by the drive motor to transition to a wall-climbing posture. This control method enables multimodal posture control of the robot.

[0060] Although the present invention has been described herein with reference to illustrative embodiments of the present invention, it will be appreciated that those skilled in the art may devise numerous other modifications and implementations that fall within the scope and spirit of the principles disclosed herein. More specifically, within the scope disclosed herein, various variations and improvements may be made to the components and / or layout of the subject combination layout. In addition to variations and improvements made to the components and / or layout, other uses will be apparent to those skilled in the art.

Claims

1. A multi-modal composite adsorption wall-climbing robot, characterized by: The invention comprises a flying structure (1) for providing flying power, a wall adsorption structure (2) for providing adsorption force, a climbing structure (3) for realizing walking and climbing functions, and an adhesive habitat structure (4) with an adhesive and fixing function; the flying structure (1) and the wall adsorption structure (2) are arranged on the upper part of the wall climbing structure (3), and the adhesive habitat structure (4) is arranged on the bottom of the wall climbing structure (3).

2. The multimodal composite adsorption wall-climbing robot according to claim 1, characterized in that: The wall climbing structure (3) includes a mechanical claw hook, which includes a plurality of claws (308). The claws (308) have a hook handle (312) and a hook tip (313). The angle between the hook handle (312) and the hook tip (313) is less than 90°. The hook handle (312) is fixedly connected to the robot body (301) through an elastic component, and the hook tip (313) can be attached to the wall.

3. The multimodal composite adsorption wall-climbing robot according to claim 2, characterized in that: The flight structure (1) comprises a rotor support (101), a first flight support (102), a first motor (103), and a two-blade propeller (104); the first flight support (102) comprises a plurality of first flight supports, one end of which is fixedly connected to the rotor support (101), and the rotor support (101) is fixedly connected to the top of the robot body (301); each first flight support (102) is respectively installed with a first motor (103) at the end away from the rotor support (101), and the output shaft of each first motor (103) is respectively fixedly installed with a two-blade propeller (104); the wall adsorption structure (2) comprises a second flight support (201) , a second motor (202), a multi-blade propeller (203), and a propeller protective cover (204); one end of the second flight bracket (201) is fixedly connected to the rotor bracket (101), the second motor (202) is fixedly mounted on the second flight bracket (201) away from one end of the rotor bracket (101), and the multi-blade propeller (203) is fixedly connected to the output shaft of the second motor (202); one end of the propeller protective cover (204) is fixedly connected to the rotor bracket (101), and the multi-blade propeller (203) is covered inside the propeller protective cover, and the wall adsorption structure (2) has two groups, which are respectively located at the front and rear ends of the central axis of the robot body (301).

4. The multimodal composite adsorption wall-climbing robot according to claim 2 or 3, characterized in that: The mechanical claw hook further comprises a spring frame (306), which is fixedly mounted on the front end of the robot body (301). The front end of the spring frame (306) is further provided with a plurality of slots (309), and the elastic components are arranged in the slots (309).

5. The multimodal composite adsorption wall-climbing robot according to claim 4, characterized in that: One side of the slot (309) has a boss structure (314), and the other side of the slot (309) has an annular groove buckle (315). One end of the spring (307) is sleeved on the boss structure (314), and the other end of the spring (307) is clamped in the annular groove buckle (315).

6. The multimodal composite adsorption wall-climbing robot according to claim 5, characterized in that: One end of the spring (307) has a connecting rod (311), and the rear end of the hook handle (312) has a socket (310), through which the hook claw (308) is plugged into the connecting rod (311).

7. The multimodal composite adsorption wall-climbing robot according to claim 1 or 6, characterized in that: The adhesive habitat structure (4) comprises a flexible support fixing plate (401), a flexible support base plate (402), two steering gears, and two connecting rods; a steering gear is respectively mounted on the flexible support base plate (402) and the flexible support fixing plate (401); one end of the two connecting rods is respectively connected to the output shaft of the corresponding steering gear, and the other end is respectively rotatably connected to the corresponding flexible support base plate (402) or the flexible support fixing plate (401).

8. The multi-modal composite adsorption wall-climbing robot according to claim 7, characterized in that: The flexible support bottom plate (402) is made of elastic material.

9. The multi-modal composite adsorption wall-climbing robot according to claim 8, characterized in that: The bottom of the flexible support base plate (402) is provided with a flexible adhesive patch (409), and the adhesive patch (409) adopts a multi-layer composite structure, wherein the outermost layer is an adhesive patch layer, the middle layer is an artificial muscle function layer, and the inner layer is an auxiliary heating wire layer.

10. The multi-modal composite adsorption wall-climbing robot according to claim 9, characterized in that: The adhesive patch layer is made of PDMS material through MEMS technology to form a micro-nano array structure. The artificial muscle function layer is made of liquid crystal elastomer material to form a sandwich-shaped columnar array structure. The auxiliary heating wire layer uses a serpentine-arranged resistance heating wire array and is connected to the control system through wires.

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