Dry-adhesion legged climbing robot based on flexible foot ends, and climbing method thereof

Abstract

The present invention provides a dry-adhesion legged climbing robot based on flexible foot ends, and a climbing method thereof. The robot comprises a body and four climbing foot assemblies symmetrically mounted on side walls of the body. Each climbing foot assembly consists of a plurality of connecting rods, servo motors, a linear motor, a rigid plastic sheet, a sponge pad, a nano micro-adhesive, and a fixing block. The body comprises an upper plate, a lower plate, and body servo motors. The climbing method comprises: the linear motors apply or remove a pre-pressure by means of the sponge pads, and legs of the robot complete adhesion motion and detachment motion by means of foot end trajectories, and complete corresponding climbing actions on the basis of a center of mass trajectory of the robot and corresponding motion gaits. The present invention uses flexible foot ends and dry-adhesion technology to enable stable climbing on vertical and inverted wall surfaces, adapts to operation requirements in various complex environments, and provides an efficient and reliable solution for fields such as high-altitude operation.

Description

A Dry-Adhesive Foot Climbing Robot Based on Flexible Foot Ends and Its Climbing Method Technical Field

[0001] This invention relates to the field of robot climbing technology, and more particularly to a dry-adhesive foot-based climbing robot with flexible foot tips and its climbing method. Background Technology

[0002] Climbing robots are increasingly important and valuable for performing challenging tasks on vertical walls or inverted surfaces, demonstrating broad application prospects across various industries. Legged climbing robots based on dry adhesion using nano-microadhesives, in particular, offer numerous significant advantages. These robots operate without noise, eliminating annoying disturbances and creating a quiet working environment. Furthermore, they require no energy input after adhesion to anchor themselves to the surface, greatly improving energy efficiency and representing the most efficient adhesion method currently available.

[0003] However, current dry-adhesion-based legged climbing robots face several serious challenges during the climbing process. One major obstacle is the inability to simultaneously achieve high adhesion and low desorption forces, severely limiting the robot's performance. This results in the legged climbing robot system not only failing to fully utilize the properties of the adhesive material but also negatively impacting the stability of the robot itself. Furthermore, dry-adhesion-based legged climbing robots cannot perform lateral climbing or turning maneuvers, significantly restricting their application scenarios. In practical applications, robots often need to be able to move flexibly laterally and turn to adapt to complex and changing working environments. Summary of the Invention

[0004] To address the technical problem of simultaneously achieving high adhesion and low detachment force in dry-adhesive legged climbing robots, this invention provides a dry-adhesive legged climbing robot based on a flexible foot and its climbing method. This invention designs a reliable and effective adhesion method without additional energy input, achieving high adhesion and low detachment force, thus expanding the flexibility of climbing robots and improving their applicability.

[0005] The technical means employed in this invention are as follows:

[0006] A dry-adhesive foot-based climbing robot with flexible foot tips includes: a torso and N climbing foot assemblies symmetrically mounted on the sidewalls of the torso.

[0007] The climbing foot assembly includes a first link, a second link, a third link, a fourth link, a first foot servo motor, a second foot servo motor, a third foot servo motor, a linear motor, a rigid plastic sheet, a sponge pad, nano-micro-adhesive, and a fixing block.

[0008] The first link is fixedly connected to the torso servo motor on the side wall of the torso. The first foot servo motor is fixedly connected to the back of the first link. The second link is fixedly connected to the first foot servo motor. The second foot servo motor is fixedly connected to the back of the second link. The third link is fixedly connected to the second foot servo motor. The third foot servo motor is fixedly connected to the back of the third link. The fourth link is fixedly connected to the third foot servo motor. The linear motor is fixedly connected to the fourth link.

[0009] The rigid plastic sheet is fixedly connected to the linear motor, the sponge pad is fixedly connected to the rigid plastic sheet with adhesive, the fixing block is fixedly connected to the bottom of the fourth link, one end of the nano-micro-adhesive is fixedly connected to the fixing block, the surface is covered with the sponge pad, and the other end is not restricted.

[0010] Furthermore, the torso portion includes an upper plate, a lower plate, and torso servo motors. The upper plate and the lower plate are fixedly connected, and the torso servo motors are mounted on the four tips of the torso portion. The output end of the torso servo motors is connected to the first connecting rod.

[0011] Furthermore, N = 4.

[0012] A climbing method for a dry-adhesive foot-based climbing robot with flexible foot tips includes the following steps:

[0013] Step 1: The climbing foot assembly returns to its initial state and adheres to the vertical wall. The linear motor presses down to stabilize the adhesion before returning to the initial position, and the foot servo motor enters sleep mode.

[0014] Step 2: The left front climbing foot and the right rear climbing foot are de-adheded. The torso servo motor and the three foot servo motors rotate to make the foot reach the designated posture, and then the nano-micro adhesive is de-adheded.

[0015] Step 3: The left front climbing foot and the right rear climbing foot are attached. The torso servo motor rotates to make the nano-micro adhesive contact the wall surface. The linear motor presses down to stabilize the adhesion of the foot ends.

[0016] Step 4: The right front climbing foot and the left rear climbing foot are de-adheded. The torso servo motor and the three foot servo motors rotate to make the foot reach the designated posture, and then the nano-micro adhesive is de-adheded.

[0017] Step 5: The right front climbing foot and the left rear climbing foot are attached. The torso servo motor rotates to make the nano-micro adhesive contact the wall. The linear motor presses down and the foot ends are attached and stabilized. At the same time, the left front foot and the right rear foot complete the same action. The climbing foot servo motor rotates to move the torso part upward.

[0018] Step Six: Repeat the above actions to complete the required climbing movement.

[0019] By adopting the above technical solution, the present invention has the following advantages compared with the prior art:

[0020] 1. The present invention provides a dry-adhesive foot-based climbing robot and its climbing method based on flexible foot end. The climbing robot can perform high-difficulty and high-risk work on vertical walls or inverted surfaces, replacing humans in dangerous operations and greatly reducing the risk of human injury or death.

[0021] 2. The present invention provides a dry-adhesive foot-based climbing robot and its climbing method based on flexible foot end. The dry-adhesive foot-based climbing robot based on nano-micro-adhesive can perch on the adhesive surface without inputting any energy after adhesion. Compared with other climbing methods that require continuous energy input, it greatly improves energy utilization efficiency, not only reducing operating costs, but also enabling the robot to work for a longer time under limited energy conditions, thus expanding its application range.

[0022] 3. This invention provides a dry-adhesive foot-based climbing robot and its climbing method, which allows the climbing robot to fully utilize all the properties of the adhesive material. High adhesion ensures stable attachment of the robot to various complex surfaces, while low deadhesion force allows the robot to easily detach when movement is required, improving the robot's flexibility and work efficiency.

[0023] 4. The present invention provides a dry-adhesive foot-based climbing robot and its climbing method based on flexible foot end, which ensures that the climbing robot body can realize multiple movement modes such as straight line, lateral, and turning, enabling the robot to move flexibly in vertical and inverted planes, greatly expanding the application scenarios of climbing robots, no longer limited to climbing operations in a single direction.

[0024] Based on the above reasons, this invention can be promoted in the field of robot climbing technology. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 is a perspective view of a dry-adhesive foot-based climbing robot based on flexible foot ends according to the present invention.

[0027] Figure 2 is a diagram showing the detachment state of the left forefoot and right hindfoot of a dry-adhesive foot-based climbing robot with flexible foot end according to the present invention during straight-line climbing.

[0028] Figure 3 is a diagram showing the adhesion state of the left forefoot and right hindfoot of a dry-adhesive foot-based climbing robot based on flexible foot end according to the present invention.

[0029] Figure 4 is a diagram showing the detachment of the right forefoot and left hindfoot during a straight-line climb of a dry-adhesive foot-based climbing robot based on flexible foot end, as described in this invention.

[0030] Figure 5 is a diagram of the linear climbing state of a wall-climbing robot based on a flexible foot end and dry adhesive foot according to the present invention.

[0031] Figure 6 is a diagram showing the adhesion state of the right forefoot and left hindfoot of a dry-adhesive foot-based climbing robot based on flexible foot end according to the present invention for straight climbing.

[0032] Figure 7 is a diagram of the initial state of a dry-adhesive foot-based climbing robot with flexible foot end according to the present invention for lateral climbing.

[0033] Figure 8 is a diagram showing the detachment of the right forefoot and left hindfoot during lateral climbing of a dry-adhesive foot-based climbing robot based on flexible foot end, as described in this invention.

[0034] Figure 9 is an intermediate view of the right forefoot and left hindfoot adhesion state of a dry-adhesive foot climbing robot based on flexible foot end according to the present invention during lateral climbing.

[0035] Figure 10 is a diagram showing the adhesion state of the right forefoot and left hindfoot of a dry-adhesive foot-based climbing robot with flexible foot end according to the present invention during lateral climbing.

[0036] Figure 11 is a diagram of the lateral climbing state of a dry-adhesive foot-based climbing robot with flexible foot end according to the present invention.

[0037] Figure 12 is a diagram of the initial state of a dry-adhesive foot-based climbing robot with flexible foot end according to the present invention, showing its turning and climbing state.

[0038] Figure 13 is a diagram of the left forefoot and right hindfoot detachment state of a dry-adhesive foot climbing robot based on flexible foot end according to the present invention during turning and climbing.

[0039] Figure 14 is a diagram showing the adhesion state of the left forefoot and right hindfoot of a dry-adhesive foot-based climbing robot with flexible foot end according to the present invention when turning and climbing.

[0040] Figure 15 is a diagram of a single turn of a dry-adhesive foot-based climbing robot based on flexible foot ends, as described in this invention.

[0041] Figure 16 is a perspective view of the torso of a dry-adhesive foot-based climbing robot with flexible foot end according to the present invention.

[0042] Figure 17 is a perspective view of a climbing foot assembly for a dry-adhesive foot-type climbing robot based on a flexible foot end, as described in this invention.

[0043] Figure 18 is a front view of a climbing foot assembly for a dry-adhesive foot-based climbing robot according to the present invention.

[0044] In the diagram: 1. Torso servo motor; 2. Upper plate; 3. Lower plate; 4. First connecting rod; 5. First foot servo motor; 6. Second connecting rod; 7. Second foot servo motor; 8. Third connecting rod; 9. Third foot servo motor; 10. Fourth connecting rod; 11. Linear motor; 12. Rigid plastic sheet; 13. Double-sided adhesive; 14. Sponge pad; 15. Nano micro-adhesive; 16. Fixing block. Detailed Implementation

[0045] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0046] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0048] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0049] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0050] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0051] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0052] As shown in Figures 1 to 9, the present invention provides a dry-adhesive foot-based climbing robot with flexible foot ends, comprising: a torso part and N climbing foot assemblies symmetrically installed on the side walls of the torso part;

[0053] The climbing foot assembly includes a first link 4, a first foot servo motor 5, a second link 6, a second foot servo motor 7, a third link 8, a third foot servo motor 9, a fourth link 10, a linear motor 11, a rigid plastic sheet 12, double-sided adhesive 13, a sponge pad 14, nano-micro-adhesive 15, and a fixing block 16. The first link 4 of the climbing foot is fixedly connected to the output shaft of the torso servo motor 1 on the side wall of the torso. The first foot servo motor 5 is fixedly connected to the back of the first link 4. The second link 6 is fixedly connected to the output shaft of the first foot servo motor 5. The second foot servo motor 7 is fixedly connected to the back of the second link 6. The third link 8 is fixedly connected to the output shaft of the second foot servo motor 7. The third foot servo motor 9 is fixedly connected to the back of the third link 8. The fourth link 10 is fixedly connected to the foot... The output shaft of the third servo motor 9, the linear motor 11 is built into the fourth connecting rod 10, the rigid plastic sheet 12 is fixedly connected to the end of the linear motor 11, the double-sided adhesive 13 is attached to the surface of the rigid plastic sheet 12, and the other side is attached to the sponge pad 14, one end of the nano-micro adhesive 15 is fixedly connected to the fixing block 16, the fixing block 16 is fixedly connected to the bottom of the fourth connecting rod 10, and the sponge pad 14 makes the pressure more evenly distributed on the surface of the nano-micro adhesive 15, so that the adhesion area is larger and the adhesion effect is more stable.

[0054] Furthermore, the torso portion includes a torso servo motor 1, an upper plate 2, and a lower plate 3. The torso servo motor 1 is mounted on the side wall of the torso portion, and the upper plate 2 and the lower plate 3 are fixedly connected.

[0055] This invention also provides a wall-climbing method for a dry-adhesive foot-based climbing robot with flexible foot tips. Straight-line climbing includes the following steps:

[0056] Step 1: The climbing foot assembly returns to its initial state, as shown in Figure 1, and is attached to the vertical wall. The linear motor 11 presses down to stabilize the attachment before returning to the initial position, and the foot servo motor enters sleep mode.

[0057] Step 2: De-adhesion of the left front and right rear climbing feet. The left front torso servo motor 1 and the right rear torso servo motor 1 drive the first link 4 to rotate, causing the entire foot to lift slightly. The foot first servo motor 5 drives the second link 6 to rotate, the foot second servo motor 7 drives the third link 8 to rotate, and the foot third servo motor 9 drives the fourth link 10 to rotate. The foot ends reach the state shown in Figure 2. The de-adhesion of the left front and right rear climbing feet with nano-micro-adhesive is completed.

[0058] Step 3: Adhesion of the left front and right rear climbing feet. The left front torso servo motor 1 and the right rear torso servo motor 1 drive their first connecting rod 4 to rotate. At this time, the nano-micro adhesive contacts the wall surface. The linear motor 11 presses down a certain stroke and then returns to its original position. At this time, the contact area between the nano-micro adhesive and the wall surface increases, and the adhesion of the left front climbing foot and the right rear climbing foot is stable, reaching the state shown in Figure 3. The adhesion of the left front and right rear climbing feet is completed.

[0059] Step 4: De-adhesion of the right front and left rear climbing feet. The right front torso servo motor 1 and the left rear torso servo motor 1 drive the first link 4 to slightly lift the entire foot. The first foot servo motor 5 drives the second link 6 to rotate. The second foot servo motor 7 drives the third link 8 to rotate. The third foot servo motor 9 drives the fourth link 10 to rotate. The foot ends reach the state shown in Figure 4. The de-adhesion of the right front and left rear climbing feet with nano-micro-adhesive is completed.

[0060] Step 5: Adhesion of the right front and left rear climbing feet. The right front torso servo motor 1 and the left rear torso servo motor 1 drive the first connecting rod 4 to rotate. At this time, the nano-micro adhesive contacts the wall surface. The linear motor 11 presses down a certain stroke and returns to its original position. At this time, the nano-micro adhesive achieves close contact with the wall surface, and the foot end is stably adhered, reaching the state shown in Figure 6. The adhesion of the right front climbing foot and the left rear climbing foot is completed.

[0061] Furthermore, during this process, the left front climbing leg and the right rear climbing leg simultaneously complete the same actions as in step five. The first servo motor of the climbing leg drives the second link 6 to rotate, the second servo motor drives the third link 8 to rotate, and the third servo motor 9 drives the fourth link 10 to rotate, so that the torso moves upward as a whole, and the wall-climbing robot reaches the state shown in Figure 5.

[0062] Step Six: Repeat the above actions to complete the required straight-line climbing motion.

[0063] Lateral climbing includes the following steps:

[0064] Step 1: The climbing foot assembly returns to its initial state, as shown in Figure 7, and is attached to the vertical wall. The linear motor 11 presses down to stabilize the attachment before returning to the initial position, and the foot servo motor enters sleep mode.

[0065] Step 2: De-adhesion of the right front and left rear climbing feet. The right front torso servo motor 1 and the left rear torso servo motor 1 drive the first link 4 to rotate, causing the entire foot to lift slightly. The foot's first servo motor 5 drives the second link 6 to rotate, the foot's second servo motor 7 drives the third link 8 to rotate, and the foot's third servo motor 9 drives the fourth link 10 to rotate. The foot ends reach the state shown in Figure 8. The de-adhesion of the right front and left rear climbing feet with nano-micro-adhesive is completed.

[0066] Step 3: Adhesion of the right front and left rear climbing feet. As shown in Figure 9, the right front torso servo motor 1 and the left rear torso servo motor 1 drive their first connecting rod 4 to rotate. At this time, the nano-micro adhesive contacts the wall surface. The linear motor 11 presses down a certain stroke and then returns to its original position. At this time, the contact area between the nano-micro adhesive and the wall surface increases, and the adhesion of the left front climbing foot and the right rear climbing foot is stable, reaching the state shown in Figure 10. The adhesion of the right front and left rear climbing feet is completed.

[0067] Step 4: De-adhesion of the climbing feet on the left front and right rear sides, which is the same as the de-adhesion process described above;

[0068] Step 5: Attach the climbing feet to the left front and right rear sides, following the same attachment process as described above, until the final result is as shown in Figure 11;

[0069] Furthermore, during the completion of steps four and five by the left front climbing foot and the right rear climbing foot, the first servo motor of the right front foot and the left rear foot drives the second link 6 to rotate, the second servo motor drives the third link 8 to rotate, and the third servo motor 9 drives the fourth link 10 to rotate, so that the torso moves laterally as a whole, and the wall-climbing robot reaches the state shown in Figure 11.

[0070] Step Six: Repeat the above actions to complete the required lateral climbing movement.

[0071] The turning and climbing process includes the following steps:

[0072] Step 1: The climbing foot assembly returns to its initial state, as shown in Figure 12, and is attached to the vertical wall. The linear motor 11 presses down to stabilize the attachment before returning to the initial position, and the foot servo motor enters sleep mode.

[0073] Step 2: De-adhesion of the left front and right rear climbing feet. The left front torso servo motor 1 and the right rear torso servo motor 1 drive the first link 4 to rotate, causing the entire foot to lift slightly. The foot first servo motor 5 drives the second link 6 to rotate, the foot second servo motor 7 drives the third link 8 to rotate, and the foot third servo motor 9 drives the fourth link 10 to rotate. The foot ends reach the state shown in Figure 13. The de-adhesion of the left front and right rear climbing feet with nano-micro-adhesive is completed.

[0074] Step 3: Adhesion of the left front and right rear climbing feet. The left front torso servo motor 1 and the right rear torso servo motor 1 drive their first connecting rod 4 to rotate. At this time, the nano-micro adhesive contacts the wall surface. The linear motor 11 presses down a certain stroke and then returns to its original position. At this time, the contact area between the nano-micro adhesive and the wall surface increases, and the adhesion of the left front climbing foot and the right rear climbing foot is stable, reaching the state shown in Figure 14. The adhesion of the left front and right rear climbing feet is completed.

[0075] Step 4: De-adhesion of the right front and left rear climbing feet, which is the same as the de-adhesion process described above;

[0076] Step 5: Adhesion of the right front and left rear climbing feet, the same as the above-described detachment process;

[0077] Furthermore, during the simultaneous completion of steps four and five by the right front climbing foot and the left rear climbing foot, the first servo motor of the left front foot and the right rear foot drives the second link 6 to rotate, the second servo motor drives the third link 8 to rotate, and the third servo motor 9 drives the fourth link 10 to rotate, so that the entire torso rotates around the center of mass, and the wall-climbing robot reaches the state shown in Figure 15.

[0078] Step Six: Repeat the above actions to complete the required turning and climbing motion.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dry-adhesive foot-based climbing robot with flexible foot tips, characterized in that, include: Torso section, N symmetrical climbing foot components; The climbing foot assembly includes a first link, a second link, a third link, a fourth link, a first foot servo motor, a second foot servo motor, a third foot servo motor, a linear motor, a rigid plastic sheet, a sponge pad, nano-micro-adhesive, and a fixing block.

2. The dry-adhesive foot-based climbing robot according to claim 1, characterized in that, The first link is fixedly connected to the torso servo motor on the side wall of the torso. The first foot servo motor is fixedly connected to the back of the first link. The second link is fixedly connected to the first foot servo motor. The second foot servo motor is fixedly connected to the back of the second link. The third link is fixedly connected to the second foot servo motor. The third foot servo motor is fixedly connected to the back of the third link. The fourth link is fixedly connected to the third foot servo motor. The linear motor is fixedly connected to the fourth link.

3. The dry-adhesive foot-based climbing robot according to claim 1, characterized in that, The rigid plastic sheet is fixedly connected to the linear motor, the sponge pad is fixedly connected to the rigid plastic sheet with adhesive, the fixing block is fixedly connected to the bottom of the fourth link, one end of the nano-micro-adhesive is fixedly connected to the fixing block, the surface is covered with the sponge pad, and the other end is not restricted.

4. The dry-adhesive foot-based climbing robot according to claim 1, characterized in that, The torso section includes an upper plate, a lower plate, and torso servo motors. The upper plate and the lower plate are fixedly connected. The torso servo motors are installed at the four tips of the torso section, and the output end of the torso servo motors is connected to the first connecting rod.

5. A dry-adhesive foot-based climbing robot according to claim 1, characterized in that, N＝4。 6. A dry-adhesive foot-based climbing robot according to claim 1, characterized in that, The climbing foot assembly is mounted on the side wall of the torso portion.

7. A climbing method for a dry-adhesive foot-based climbing robot with flexible foot tips, characterized in that, Includes the following steps: Step 1: The climbing foot assembly returns to its initial state and adheres to the vertical wall. The linear motor presses down to stabilize the adhesion before returning to the initial position, and the foot servo motor enters sleep mode. Step 2: The left front climbing foot and the right rear climbing foot are de-adheded. The torso servo motor and the three foot servo motors rotate to make the foot reach the designated posture, and then the nano-micro adhesive is de-adheded. Step 3: The left front climbing foot and the right rear climbing foot are attached. The torso servo motor rotates to make the nano-micro adhesive contact the wall surface. The linear motor presses down to stabilize the adhesion of the foot ends. Step 4: The right front climbing foot and the left rear climbing foot are de-adheded. The torso servo motor and the three foot servo motors rotate to make the foot reach the designated posture, and then the nano-micro adhesive is de-adheded. Step 5: The right front climbing foot and the left rear climbing foot are attached. The torso servo motor rotates to make the nano-micro adhesive contact the wall. The linear motor presses down and the foot ends are attached and stabilized. At the same time, the left front foot and the right rear foot complete the same action. The climbing foot servo motor rotates to move the torso part upward. Step Six: Repeat the above actions to complete the required climbing movement.

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