CN206734444U - A kind of Climbing Robot sole - Google Patents

Abstract

The utility model discloses a kind of Climbing Robot sole, including sucker, sucker to be connected with supporting construction；Supporting construction includes being circumferentially positioned at the support frame of the outside of sucker；It enables to sucker to bear larger load, can bear the power of all directions, rather than unidirectional power, the direction of absorption affinity can at utmost be accomplished with the gravity of load it is parallel, so as to farthest improving adsorption efficiency.

Description

A kind of Climbing Robot sole

Technical field

It the utility model is related to robotic technology field, and in particular to a kind of Climbing Robot sole.

Background technology

With the continuous development of robot technology, Climbing Robot is also increasingly widely used, and passes through vavuum pump The Climbing Robot that negative pressure produces absorption affinity is provided, its success moves on metope, depending on can motor load Can the overall weight of itself, and the negative pressure that provides of air pump caused suction on sucker support the overall weight of itself.

Existing Climbing Robot uses multiple sucker suctions on metope, it is necessary to which at least two pin have been carried out simultaneously more Full absorption can just support whole sole, but only single sole absorption provides climbing for support force on metope to provide support force The presence more of wall robot is influenceed by overall self gravitation so that the power that sucker is prized upwards, causes sucker deformation quantity excessive The problem of, so as to which cause Climbing Robot climbs wall baulk.

Publication No. CN205706942U, the Chinese utility model patent document of entitled " Pan Bi robots adsorb pin " are public A kind of Pan Bi robots absorption pin has been opened, has belonged to climbing device field, including permanent magnetic chuck, the action bars of permanent magnetic chuck is provided with Gear A, gear A by chain and gear B with being coordinated, and gear B is arranged on the power output shaft of actuating unit, power set Control terminal is connected to control device, although it can be such that robot is climbed in vertical direction, it, which is equally existed, climbs wall The sole structure of robot is influenceed by overall self gravitation so that the power that sole is prized upwards, the problem of causing deformation.

Publication No. CN203381704U, the Chinese utility model patent document of entitled " climbing robot telescopic leg arm " A kind of climbing robot telescopic leg arm is disclosed, the structure of each of which telescopic leg arm unit is, including cylinder block, cylinder block pass through The lug at top is fixedly connected with slide bar, and cylinder block is fixedly connected by horizontal lug with cross bar, cylinder block downwards with pin arm gas Cylinder cylinder body is fixedly connected, and pin arm cylinder piston rod lower end is fixedly connected with sucker fixed plate, and peace is fixed in sucker fixed plate lower surface Equipped with vacuum cup, it is provided with folded sheet on telescopic leg arm so that in sucker stress, most of power is straight by folded sheet Connect and reach cylinder block, stress would not individually be carried by cylinder, protect cylinder, but its but exist it is complicated, and equally Influenceed by overall self gravitation so that the power that sole is prized upwards, the problem of causing deformation.

Utility model content

The purpose of this utility model is to provide a kind of Climbing Robot sole, to solve existing Climbing Robot only The Climbing Robot that the absorption of single sole provides support force on metope exists more and influenceed by overall self gravitation so that sucker by The power prized upwards, the problem of causing sucker deformation quantity excessive, so as to which avoid Climbing Robot climbs wall baulk.

To achieve the above object, the utility model provides a kind of Climbing Robot sole.Specifically, the Climbing Robot pin The palm includes following structure：

The Climbing Robot sole, including sucker, sucker are connected with supporting construction；Supporting construction is included around setting Support frame in the outside of sucker.

Alternatively, support frame includes lower support ring flat-plate, and lower support ring sleeve-board is located at the middle part outside sucker.

Alternatively, support frame also includes upper support ring flat-plate, and upper support ring flat-plate is arranged on the top outside sucker.

Alternatively, it is connected between upper support ring flat-plate and lower support ring flat-plate by connecting rod.

Alternatively, sucker is connected with sucker disk seat, and upper support ring flat-plate is connected with sucker disk seat connector.

Alternatively, sucker disk seat is connected with sucker disk seat connector with gap fiting mode.

Alternatively, sucker, upper support ring flat-plate and lower support ring flat-plate are all provided with as concentric circle.

Alternatively, microswitch is provided with sucker disk seat connector, fixed hole position is provided with the middle part of microswitch, Be provided with the buckle of matching corresponding with hole position on sucker disk seat connector, sucker disk seat connector by buckle be caught in hole position with it is micro- Dynamic switch connection.

Alternatively, button is provided with the top of microswitch, neck is provided with the top of sucker disk seat, position is arranged with neck Fine motion snap ring above button.

Alternatively, be arranged with spring in the middle part of sucker disk seat, sucker disk seat is provided with platform, spring be arranged on support ring flat-plate with Between platform.

The utility model method has the following advantages that：

Climbing Robot sole of the present utility model, can solve the problem that present in the double suction dish structure of existing Climbing Robot Influenceed by overall self gravitation so that the power that sucker is prized upwards, the problem of causing deformation, so as to avoid wall-climbing machine device People's climbs wall baulk, and it enables to sucker to bear larger load, can bear the power of all directions, rather than single The power in direction, can by the direction of absorption affinity with load gravity at utmost accomplish it is parallel, so as to farthest improve inhale Attached efficiency；Its situation of single sucker suction on metope that is particularly suitable for use in, because the support frame structure of outside is to its stress feelings Condition is optimized, and larger absorption affinity can be provided by being passed to single sucker.

Brief description of the drawings

Fig. 1 is stress diagram of the Climbing Robot sole in working condition.

Fig. 2 is the structural representation of Climbing Robot sole of the present utility model.

Fig. 3 is the diagrammatic cross-section of Climbing Robot sole of the present utility model.

Fig. 4 is the structural representation of the sucker of Climbing Robot sole of the present utility model.

Fig. 5 is the structural representation of the lower supporting plate of Climbing Robot sole of the present utility model.

Fig. 6 is the structural representation of the upper backup pad of Climbing Robot sole of the present utility model.

Fig. 7 is the structural representation of the connecting rod of Climbing Robot sole of the present utility model.

Fig. 8 is the structural representation of the sucker disk seat of Climbing Robot sole of the present utility model.

Fig. 9 is the structural representation of the sucker disk seat connector of Climbing Robot sole of the present utility model.

Figure 10 is the structural representation of the microswitch of Climbing Robot sole of the present utility model.

Figure 11 is the structural representation of the fine motion snap ring of Climbing Robot sole of the present utility model.

Figure 12 is the sucker vacant state front view of Climbing Robot sole of the present utility model.

Figure 13 is that the sucker of Climbing Robot sole of the present utility model jacks up state front view by bottom surface.

Figure 14 is the sucker suction complete state front view of Climbing Robot sole of the present utility model.

Figure 15 is the sucker vacant state side view of Climbing Robot sole of the present utility model.

Figure 16 is that the sucker of Climbing Robot sole of the present utility model jacks up side view of the state by bottom surface.

Figure 17 is the sucker suction complete state side view of Climbing Robot sole of the present utility model.

Figure 18 is the sucker vacant state schematic diagram of Climbing Robot sole of the present utility model.

Figure 19 is that the sucker of Climbing Robot sole of the present utility model jacks up view by bottom surface.

Figure 20 is the sucker suction complete state schematic diagram of Climbing Robot sole of the present utility model.

In figure, 1 is sucker, and 2 be lower support ring flat-plate, and 3 be upper support ring flat-plate, and 4 be connecting rod, and 5 be sucker disk seat, and 6 be sucker Seat connector, 7 be microswitch, and 8 be fine motion snap ring, and 9 be spring, and 10 be air pipe interface.

Embodiment

Following examples are used to illustrate the utility model, but are not limited to the scope of the utility model.

Embodiment 1

Referring to Fig. 1 to Fig. 4, a kind of Climbing Robot sole, including sucker 1, sucker 1 are connected with supporting construction；Support Structure includes being circumferentially positioned at the support frame of the outside of sucker 1.

Referring to Fig. 1 to Figure 20, it is seen then that the Climbing Robot sole of the present embodiment, it is connected by support frame with sucker 1 Connect, Auxiliary support is played a part of to sucker 1, when the stable absorption of sucker 1 is when on metope, whole sole is considered as a rigidity Entirety, preferable sole is circle, and referring to Fig. 1, the left side is metope, and right side is support frame, and F1 is the pulling force of sucker, and F2 is letter Center of gravity after change, F3 be metope to the support force of sole, F4 is frictional force, and d1 is the arm of force of gravity, and d2 is the radius of sole, M For torque.Generally assume that pin disk lower section is anti-skidding effectively, so hinge is reduced to, if to enable robot to adsorb Above, then have：

CF=0 (I)

∑ M=0 (2)

F1=F3 (3)

F4=F2 (4)

F1 × d2-F2 × d1=0 (5)

Drawn by formula (1) to formula (5)：

It was found from formula (6), when the radius d2 of sole is bigger, the pulling force suffered by sucker 1 is with regard to smaller, so sucker 1 Relation between pulling force F1 and the radius d2 of sole is：With d2 increase, F1 is reduced.But in practice, sole is bigger, climbs The weight of wall telephone device people's fuselage is also bigger；Here the radius d2 of preferred sole is 120mm；Assuming that support frame is supported on metope not Skid, then when F2 have load gravity when, because of support frame, sucker 1 then will not by the huge strength prized, but Have greatly by the supporting role of support frame, be converted to the pulling force parallel with absorption affinity F1, it enables to sucker Larger load is born, the power of all directions, rather than unidirectional power can be born, by the direction of absorption affinity and can be born The gravity of load at utmost accomplish it is parallel, so as to farthest improving adsorption efficiency.It should be noted that sucker 1 here Preferably double-deck sucker, its absorption affinity can be larger than individual layer sucker, and allow to have certain pulling force and displacement obliquely Amount, so as to improve auxiliary adsorption effect；It adsorbs the situation on metope suitable for single sucker 1, due to the support frame of outside Structure is optimized to its stressing conditions, and larger absorption affinity can be provided by being passed to single sucker 1.

Embodiment 2

Referring to Fig. 1 to Fig. 5, a kind of Climbing Robot sole is similar to Example 1, except that, under support frame includes Ring flat-plate 2 is supported, lower support ring flat-plate 2 is set in the middle part outside sucker 1.In such manner, it is possible to the so that structure of the lower supporting plate 2 of support frame Play a part of stable support.

Referring to Fig. 1 to Fig. 6, it is preferred that support frame also includes upper support ring flat-plate 3, and upper support ring flat-plate 3 is arranged on outside sucker 1 Top.In such manner, it is possible to further such that support frame plays a part of stable support, optimization force structure.

Referring to Fig. 1 to Fig. 7, it is preferred that above support and be connected between ring flat-plate 3 and lower support ring flat-plate 2 by connecting rod 4.This Sample, enable to the attachment structure between the upper support ring flat-plate 3 of support frame and lower support ring flat-plate 2 more stable and easy to connect.

It should be noted that connecting rod 4 could be arranged to inclined " Z " character form structure, the top surface of connecting rod 4 can with it is upper The bottom surface of support ring flat-plate 3 is connected, and the bottom surface of connecting rod 4 can be connected with the top surface of lower support ring flat-plate 2, the top of connecting rod 4 It can be respectively arranged with tapped through hole on face and bottom surface, can be set respectively on the top surface of upper support ring flat-plate 3 and lower support ring flat-plate 2 There is the screwed hole of matching corresponding with tapped through hole, can be respectively protruding into tapped through hole and screwed hole and be provided with bolt or spiral shell Nail, connecting rod 4 is connected with upper support ring flat-plate 3 and lower support ring flat-plate 2 respectively.In addition, the size of upper support ring flat-plate 3 can be with Less than the size of lower support ring flat-plate 2, then the incline direction of the connecting rod 4 of inclined " Z " character form structure is to dipping down outside by interior Tiltedly.The quantity of connecting rod 4 is at least two, and is uniformly and symmetrically distributed, preferably four.

Embodiment 3

Referring to Fig. 1 to Fig. 8, a kind of Climbing Robot sole is similar to Example 2, except that, sucker 1 and sucker Seat 5 is connected, and upper support ring flat-plate 3 is connected with sucker disk seat connector 6.So, lower support ring flat-plate 2 is used to paste together with sucker 1 Conjunction is played a supporting role on metope, enables to the structure of itself of sucker 1 more stable, while cause sucker 1 and support frame Attachment structure it is more stable.

Referring to Fig. 1 to Fig. 9, it is preferred that sucker disk seat 5 is connected with sucker disk seat connector 6 with gap fiting mode.So, The center position of upper support ring flat-plate 2 can be connected with sucker disk seat connector 6, can optimize the overall connection knot of sucker 1 Structure, improve stability of equilibrium.It should be noted that：The bottom of sucker disk seat connector 6 is provided with ledge, with for upper branch The center of pushing out ring plate 3 is nested and connected, and it is connected in a manner of interference fits；Further, can be with sucker disk seat connector 6 Two hole positions for screw stays are set, so as to which sucker disk seat connector 6 and the upper support phase of ring flat-plate 3 be fixed, can so be made It is more firm to connect, while prevents 6 sets of sucker disk seat connector and rear rotation.

It should be noted that the top of sucker disk seat 5 can be provided with the key of projection, sucker disk seat connector 6 could be arranged to Cylindrical shape, the keyway of matching corresponding with key can be provided with the inwall of sucker disk seat connector 6, and sucker disk seat connector 6 is arranged In the outside of sucker disk seat 5, and key is arranged in keyway.

Preferably, sucker 1, upper support ring flat-plate 3 and lower support ring flat-plate 2 are set to concentric circle.In such manner, it is possible to improve pin Slap overall balance and stability performance, optimization auxiliary adsorption structure.Upper support ring flat-plate 3 could be arranged to the twin nuclei of the figure of eight, The diameter of one of ring is more than the diameter of another ring.Reinforcement cruciferous, reinforcement are set in the ring being relatively large in diameter Center at be provided with the cyclization of matching somebody with somebody of annular, sucker disk seat connector 6 is through matching somebody with somebody cyclization.Connecting rod 4 and the ring phase being relatively large in diameter Connection, the less ring of diameter are used to be connected with the fuselage of Climbing Robot.

Embodiment 4

Referring to Fig. 1 to Figure 10, a kind of Climbing Robot sole is similar to Example 3, except that, sucker disk seat connection Microswitch 7 is provided with part 6, the middle part of microswitch 7 is provided with fixed hole position, is provided with sucker disk seat connector 6 The buckle of matching corresponding with hole position, sucker disk seat connector 6 are caught in hole position by buckle and are connected with microswitch 7.So, will Microswitch 7 is fixed on sole, and the gas leakage situation of sucker 1 can be fed back by microswitch 7.

Referring to Fig. 1 to Figure 11, it is preferred that the top of microswitch 7 is provided with button, and the top of sucker disk seat 5 is provided with card Groove, the fine motion snap ring 8 being arranged with neck above button.In such manner, it is possible to optimize the detection mode of microswitch 7.

It should be noted that microswitch 7 can be fixed on the right side of sucker disk seat connector 6.The lower section of sucker disk seat 5 is used to cover Sucker 1 is closed, the gap between sucker 1 and sucker disk seat 5 is viscous dead with glue, prevents gas leakage, can be provided for connecing on sucker disk seat 5 The air pipe interface 10 of breather pipe, the top half of sucker disk seat 5 are used to do gap cooperation with sucker disk seat connector 6, it is possible to achieve on Lower slider, the top of sucker disk seat 5 set neck, and a fine motion snap ring 8 can be blocked by blocking to set in neck, be done up and down for sucker disk seat 5 During motion, microswitch 7 is triggered.Fine motion snap ring 8 could be arranged to spanner shape, and the side of fine motion snap ring 8 is provided with opening.

Embodiment 5

Referring to Fig. 1 to Figure 19, a kind of Climbing Robot sole is similar to Example 4, except that, in sucker disk seat 5 Portion is arranged with spring 9, and sucker disk seat 5 is provided with platform, and spring 9 is arranged between support ring flat-plate 3 and platform.Spring 9 can be set Revocable structure is set to, the top of spring 9 heads on support ring flat-plate 3, and bottom heads on sucker disk seat 5, and it primarily serves reset Effect.In such manner, it is possible to so that sucker 1 in upward motion, spring 9 is compressed, and when sucker 1 is hanging, sucker disk seat 5 can be by spring 9 are restored back to original position.

It should be noted that spring 9 can be arranged on the middle part of sucker disk seat 5, when sucker 1 is hanging, sucker disk seat 5 can be by bullet Spring 9 is restored back to original position, i.e. minimum state.

Climbing Robot sole of the present utility model, if it is considered that the problem of gas leakage condition monitoring, then in the outstanding of sucker 1 Under dummy status, the height of sucker 1 press against microswitch 7 less than lower support ring flat-plate 2, fine motion snap ring 8, and now microswitch 7 is in The state opened, then when motor constantly controls sole to push vertically, sucker 1 can be jacked up by metope, and sucker disk seat 5 moves up, fine motion card Ring 8 moves up, and not press against microswitch 7, and now microswitch 7 is in the state closed, and sole stops pushing, and starts pumping production Raw negative pressure, the air in sucker 1 are pumped, and vacuum are produced, because preferable sucker 1 is double-deck sucker, so sucker 1 meeting itself Compressed, produce one section of vertical displacement, drive sucker disk seat 5 to move down, sucker disk seat 5 recovers position when nature, still Sucker 1 is compressed, i.e., the crimp height difference of double-deck sucker itself is equal to the difference in height of the bottom of sucker 1 and lower support ring flat-plate 2 bottom. When adsorbing complete, lower support ring flat-plate 2 is just supported on metope, and lower support ring flat-plate 2 has certain pressure to metope, this When, sucker 1, sucker disk seat 5, lower support ring flat-plate 2, the part such as sucker disk seat connector 6 it is combined into sole form an entirety.

Climbing Robot sole of the present utility model, the bottom surface of lower support ring flat-plate 2 can set rubber blanket, and it can be played The anti-skidding effect of sole bottom, at the same time, the rubber acted under the pressure conduction on sucker disk seat 5 to lower support ring flat-plate 2 On pad, it press against rubber blanket and contacted with contact surface；On the other hand, rubber blanket provides the source of frictional force, avoids robot Any on the wall to slide, it acts on a part for being not only in that stationary machines people, once it is also possible that sole part sucks, Fuselage can be with arbitrary motion, and it can be as the pedestal of robot, and change of feet absorption can be based oneself upon as pedestal is changed.Separately Outside, due to being that gap is connected between sucker disk seat 5 and sucker disk seat connector 6, it is possible to slide up and down, and adsorbing Cheng Shi, the whole sole of automatic locking so that it is overall that sole turns into rigidity, so in adsorption process, sucker 1 is sucked and unclamped Motion the body of robot is not influenceed, i.e., absorption when caused displacement will not cause robot produce in itself rock or Person's displacement.In addition, sensor can be set, to utilize caused displacement in adsorption process, to adsorption plane on sucker disk seat connector 6 Gas leakage situation judged and fed back, if gas leakage, illustrate that sucker 1 can not provide enough absorption affinity and support whole machine Body, so as to provide safety guarantee for robot.

In its natural state, because there is spring 9 at the middle part of sucker disk seat 5, spring 9 is in slightly by compression shape Climbing Robot sole State, elastic force direction are downward so that sucker 1 and sucker disk seat 5 are down naturally hanging, and now the bottom of sucker 1 is less than lower support ring flat-plate 2 Bottom about 6mm, double-deck sucker 1 are in relaxed state, and there is about 8mm the bottom surface of sucker 1 apart from the supporting surface of sucker 1, is stuck in The fine motion snap ring 8 of the top of sucker disk seat 5 press against downwards the button of microswitch 7 all the time, and microswitch 7 is in triggering state, micro- Trigger shrapnel can be set on dynamic switch 7, to improve triggering effect.When motor constantly controls sole to push vertically, if inhaled Disk 1 is face metope, and the bottom of sucker 1 touches metope at first, and after sucker 1 touches metope, sucker 1 and sucker disk seat 5 can quilts Metope is jacked up, and sucker disk seat 5 is moved up, and spring 9 is compressed, and the fine motion snap ring 8 of the top of sucker disk seat 5 and then rises, and microswitch 7 is pressed Button is released, and at this time sucker 1 is still within relaxed state, only the pushing by motor sucker 1 and sucker disk seat 5, And jacked up upwards by metope, due to body have in itself it is certain elastic and flexible, so volume under pressure can be about 6mm.Instantly after single-chip microcomputer receives the signal that microswitch 7 is released during pressing, it becomes possible to determine that sucker 1 normally jacks up, inhale Disk 1 touches the information such as metope, it is possible to carries out next step operation, after the completion of previous step, air pump gas is opened in single-chip microcomputer control Valve circuit, start to be evacuated；

Now if gap is smaller between sucker 1 and metope, the air in sucker 1 is gradually extracted, and internal vacuum is not Disconnected to rise, sucker 1 can start to deform, push, and after having certain vacuum degree in sucker 1, sucker 1 presses to metope completely, and The deformation of sucker 1 causes moving down for sucker disk seat 5 therewith, and fine motion snap ring 8 pushes down the button of microswitch 7, monolithic machine testing again To this signal intensity, you can know that air leakage is smaller in sucker 1, gas leakage is smaller in sucker 1, and sucker 1 adsorbs completely, and sole can be with Enough support forces are provided.

Now if gap is larger between sucker 1 and metope, air leakage is larger in sucker 1, it is impossible to vacuum state is pumped down to, Air leakage is more than rate of air sucked in required, then and there will be no any change, sucker 1 in sucker 1 to deform, and sucker disk seat 5 will not be moved down, Microswitch 7 will not be again depressed, and single-chip microcomputer setting is within a certain period of time if the pressure letter of microswitch 7 can not be detected Number, that is, it is considered as that air leakage in sucker 1 is larger, and sucker 1 is unadsorbed on metope, sole can not support whole body, then necessary Select other footholds.

The gas circuit structure of Climbing Robot sole of the present utility model, its tracheae and air pipe interface 10, sucker can be made fast Speed pumping pushes, and when need to allow the sole leave, and can immediately disengages, and when power-off, sucker 1 passes through sucker disk seat 5 It is connected with air valve, and leads to air after air valve, meanwhile, air pump is also stopped.When air pump air valve is powered, air pump passes through Air valve, sucker 1 is connected to, can both take the air in gas circuit away, once need to be rapidly separated adsorption plane, it is only necessary to simultaneously close off Air pump air valve, sucker 1 will lead to air by air valve, vacuum rapid decrease in sucker 1, full of air, both can quickly take off From adsorption plane.Sucker 1 can be a diameter of 50mm double-deck sucker, and sucker disk seat 5 can be plastic suckers seat, and the two can pass through Gluing connection, to increase air-tightness.Double-deck sucker is that soft bottom can preferably be bonded adsorption plane, and when being pulled up, by Then sucker 1 first deforms above, and beneath part deflection is little, then suction change is little, the corresponding gas of a sucker 1 Pump, avoid the gas leakage simultaneously of multiple suckers 1, and convenient control and detection.

Climbing Robot sole of the present utility model, its success rate is high, weight is small, small volume, multipurpose, cost are low, by mistake Toggle rate is almost nil, and it utilizes the physical principle of negative pressure, as long as the inside of sucker 1 can be pumped to certain vacuum degree, sucker 1 is just Section shifting can be produced, drives microswitch 7 to produce signal, if moved without this section, illustrates that sucker 1 does not deform. The main function of its fine motion snap ring 8 is two, and one is triggering microswitch 7, and another is to prevent sucker disk seat 5 from falling from below Fall, improve security.

Although above having made detailed description to the utility model with generality explanation and specific embodiment, On the basis of the utility model, it can be made some modifications or improvements, this is apparent to those skilled in the art 's.Therefore, the these modifications or improvements on the basis of without departing from the utility model spirit, belonging to the utility model will Seek the scope of protection.

Claims (10)

1. a kind of Climbing Robot sole, including sucker, it is characterised in that sucker is connected with supporting construction；Supporting construction bag Include the support frame for the outside for being circumferentially positioned at sucker.

2. Climbing Robot sole as claimed in claim 1, it is characterised in that support frame includes lower support ring flat-plate, lower support Ring flat-plate is set in the middle part outside sucker.

3. Climbing Robot sole as claimed in claim 2, it is characterised in that support frame also includes upper support ring flat-plate, upper branch Pushing out ring plate is arranged on the top outside sucker.

4. Climbing Robot sole as claimed in claim 3, it is characterised in that above support and lead between ring flat-plate and lower support ring flat-plate Connecting rod is crossed to be connected.

5. Climbing Robot sole as claimed in claim 4, it is characterised in that sucker is connected with sucker disk seat, upper support ring Plate is connected with sucker disk seat connector.

6. Climbing Robot sole as claimed in claim 5, it is characterised in that sucker disk seat is matched somebody with somebody with sucker disk seat connector with gap Conjunction mode is connected.

7. Climbing Robot sole as claimed in claim 6, it is characterised in that sucker, upper support ring flat-plate and lower support ring flat-plate It is set to concentric circle.

8. Climbing Robot sole as claimed in claim 7, it is characterised in that be provided with fine motion on sucker disk seat connector and open Close, fixed hole position is provided with the middle part of microswitch, the card of matching corresponding with hole position is provided with sucker disk seat connector Button, sucker disk seat connector is caught in hole position by buckle to be connected with microswitch.

9. Climbing Robot sole as claimed in claim 8, it is characterised in that button is provided with the top of microswitch, is inhaled Neck is provided with the top of disk seat, the fine motion snap ring being arranged with neck above button.

10. Climbing Robot sole as claimed in claim 9, it is characterised in that spring, sucker are arranged with the middle part of sucker disk seat Seat is provided with platform, and spring is arranged between support ring flat-plate and platform.