CN109334797A - Dry adhesion four-footed in conjunction with hook is dwelt robot and its bionic movement method more - Google Patents
Dry adhesion four-footed in conjunction with hook is dwelt robot and its bionic movement method more Download PDFInfo
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- CN109334797A CN109334797A CN201811066702.4A CN201811066702A CN109334797A CN 109334797 A CN109334797 A CN 109334797A CN 201811066702 A CN201811066702 A CN 201811066702A CN 109334797 A CN109334797 A CN 109334797A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
A kind of dry adhesion four-footed in conjunction with hook is dwelt robot and its bionic movement more, belongs to robot field.Its body main body includes forefoot support frame (3), N number of concatenated body Z axis steering engine, metapedes support frame (18)；Neck structure includes head Y-axis steering engine (2) and camera (1)；Tail structure includes: tail X axis steering engine (26), the U-shaped connector of tail X axis steering engine (27), M concatenated tail Z axis steering engines, tail fin (31)；Sufficient structure is made of foot Y-axis steering engine, support foot, blade, hook and dry adhesion material.The robot is able to satisfy the non-structural landform water surface-land surface under natural environment and adaptively requires, dry adhesion progress heavy grade metope can be used on smooth surface simultaneously to creep, can can be used on a rough surface again hook carry out heavy grade metope creep, can be used as the full landform under natural environment more dwell cross-country mobile platform dry adhesion hook four-wheel foot paddle driving robots of dwelling more.
Description
Technical field
The invention belongs to robot technology application fields, and in particular to a kind of dry adhesion four-footed in conjunction with hook is dwelt machine more
People and its bionic movement method are dwelt mobile platform more mainly as the full landform under natural environment.
Background technique
The robot for adapting to various land and water complex environments is one of the project in current robot research field forward position the most, it
Integrate the multiple subjects such as machinery, electronics, computer, material, sensor, control technology and artificial intelligence, reflects one
The intelligence of country and automation research are horizontal, while the also important symbol as a national high-tech strength, each prosperity state
Family puts into huge fund in the field in succession and conducts a research.
Legged type robot can be realized complicated ground climbing, and adjustable front and back end height position moves the mode combined,
The mountain environment movement needs for meeting more heavy grade enhance the adaptability of mountain environment movement, but legged type robot row simultaneously
It is low into speed, because center of gravity reason easily cause movement it is unstable.Wheeled robot is more suitable for flat road surface, and can move at a high speed
It is dynamic, but be easy to skid, unstable, obstacle climbing ability, landform adaptability are poor.The robot of paddle driving may be implemented to move in the water surface
It is dynamic, but be not suitable for complicated ground movement.Freely swimming in water may be implemented in the bio-robot of simulation fish tail fin driving method
It is dynamic, but moved on unsuitable complicated ground.How the advantages of various robot, is concentrated, make up the disadvantage is that one instantly
Research hotspot.Study the Nature biological nature, it has been found that crocodile belongs to amphibian, can be realized in water with body and tail
Travelling, while can be creeped on the coast with four limbs；Gecko with dry adhesion locomitivity belongs to reptiles, it can be achieved that in complexity
Ground and metope are freely creeped, and in conjunction with the bionical object advantage of the two, in a kind of water of Bionic Design, land, metope dwell more
Bio-robot, will be with important research significance and engineering value.
More famous wheel foot formula combination robot inside and outside comparator, wherein by The University of
" the X-RHex that the research institutions such as Michigan, McGill University, University of California develop
Lite " is a robot (https: //www.grasp.upenn.edu/projects/x-rhex- taken turns and combined enough
Lite-xrl), it can be jumped with biped, four-footed jump, six foot jumps, can be with vertical jump in succession.Pass through different dancing modes
Achieve the effect that different, such as jump groove, climbs parapet or 180 ° of jumps are turned over, even in rocky ground movement,
The leg for loading onto paddle can also move about in water.The RISE robot of Boston power uses hook driving method in conjunction with leg,
It is a kind of robot of vertical crawling, which has unguiculus to can be convenient its firm grip on rough earth
(Saunders A, Goldman D I, Full R J, et al. The rise climbing robot:body and
Leg design [C] Georgia Institute of Technology, 2006).Beijing Institute of Technology's specialized robot
The novel segmental appendage robot (http://www.liuti.cn/News/117741.html) of scientific and technical innovation team design, use
The combination driving method of leg and wheel has certain stair climbing ability.The ant lunar rover of Southeast China University is a bionical wheel
Legged mobile robot (http://news.longhoo.net/index/content/2016-04/23/content_
28380.html), using distributed sensing control system, there is certain obstacle climbing ability, can go in the environment such as mountainous region, ice-snow field
It walks, there is well adapting to property.The imitative wall of Hefei Institutes of Physical Science, Chinese Academy of Sciences advanced manufacturing technology Research Institute
The compound climbing robot of tiger wheel foot, using adherency, crawler belt and sufficient driving method, realize the creeping of hydraulically smooth surface (http: //
Mil.huanqiu.com/china/2013-09/4341264.html).
The robots functions such as single wheel foot, sufficient hook, adherency crawler belt are limited, and with a kind of dry adhesion in conjunction with hook
Four-footed dwells robot more and its bionic movement mode had not been reported, and does not also carry out research.
Summary of the invention
The purpose of the present invention is to provide a kind of cross-country slope climbing movement function in land with higher, meet under natural environment
The non-structural landform water surface-land surface adaptively requires, while dry adhesion can be used on smooth surface and carry out heavy grade metope
It creeps, and hook progress heavy grade metope can be used on a rough surface and creep, can be used as the full landform under natural environment
The dry adhesion of cross-country mobile platform of more dwelling and four-footed that hook combines are dwelt robot more.
A kind of dry adhesion four-footed in conjunction with hook is dwelt robot more, it is characterised in that: including body main body knot
Structure, neck structure, four foot structures；It further include battery, control circuit board.Before body main structure successively includes from front to back
Sufficient support frame, N number of body Z axis steering engine, metapedes support frame being sequentially connected in series, wherein 3≤N≤6；Wherein first body from front to back
Body Z axis steering engine is known as the first body Z axis steering engine, the last one body Z axis steering engine is known as N body Z axis steering engine；Wherein body Z
Pass through the U-shaped connector connection of steering engine, the output shaft phase of the body Z axis steering engine of the rear end and rear of U-shaped connector between axis steering engine
Fixed, the front end of U-shaped connector is mutually fixed with the body Z axis steering engine body in front；The wherein rear end of forefoot support frame and first
The output shaft of body Z axis steering engine is mutually fixed；Wherein the front end of metapedes support frame is mutually fixed with N body Z axis steering engine body；Neck
Structure includes head Y-axis steering engine and camera；Wherein the output shaft of head Y-axis steering engine and the front end of forefoot support frame are mutually solid
Fixed, camera is fixed on head Y-axis steering engine body；Tail structure successively includes: tail X axis steering engine, tail X from front to back
The U-shaped connector of axial steering engine, M tail Z axis steering engine, the tail fins being sequentially connected in series, wherein 2≤M≤4；Wherein from front to back first
A tail Z axis steering engine is known as the first tail Z axis steering engine, the last one tail Z axis steering engine is known as M tail Z axis steering engine；Wherein tail
Pass through the U-shaped connector connection of steering engine, the output shaft of the tail Z axis steering engine of the rear end and rear of U-shaped connector between bar Z axis steering engine
Mutually fixed, the front end of U-shaped connector is mutually fixed with the tail Z axis steering engine body in front；Tail X axis steering engine rotary output with
Metapedes support frame rear end is fixed along X-axis, and the tail X axis steering engine other end is fixed with the U-shaped connector of tail X axis steering engine；First
The rotary output of tail Z axis steering engine is fixed with the U-shaped connector of tail X axis steering engine along Z axis, wherein tail fin and M tail Z axis
Steering engine body is mutually fixed.
The sufficient structure is made of foot Y-axis steering engine, foot；One end of its mesopodium is fixedly installed in foot Y-axis steering engine
Rotary output, foot Y-axis steering engine are fixed on the end of forefoot support frame or metapedes support frame.Foot includes support foot and blade；
" C " type is presented in support foot, and blade is fixed on the lateral surface of support foot；Support foot bottom surface be provided with from front to back I row toe block, 4
≤I≤6；Every row's toe block installs J hook from left to right, hook forward-facing lower section, 3≤J≤6；It is equipped with below every row's toe block
Fixed, concave up of front end, adhesion material surface direction on rear side of a piece of dry adhesion material, dry adhesion material rear end and corresponding toe block
Front lower place, whole is in cantilever position.
A kind of dry adhesion four-footed in conjunction with hook is dwelt the bionic movement of robot more, it is characterised in that: pass through tail
Fin successively realize in the horizontal direction it is right-in-left motion mode realizes bio-robot mould in conjunction with reciprocation cycle motion control
Quasi- tail fin is swung back and forth horizontally, pushes water flow, to tail fin travelling mode before realizing；In the horizontal direction successively by tail fin and body
The motion mode for realizing left and right reciprocally swinging, may be implemented bionic machine human simulation tail fin and body levels reciprocally swinging, push
Water flow, to overall flexibility travelling mode before realizing；Successively realized by tail fin in vertical direction-in-under motion mode, knot
Reciprocation cycle motion control is closed, realizes the vertically reciprocating swing of bionic machine human simulation tail fin, pushes water flow, realizes tail fin trip up and down
Flowing mode；By adjusting the direction of foot, in water when left front foot, left back foot, right front foot and right metapedes reduce advance resistance upwards,
It realizes velocity increased by resistance reduction mode operation during moving about advance, improves travelling speed and efficiency.By adjusting the direction of foot, in water
In increase advance resistance downwards when left front foot, left back foot, right front foot and right metapedes, realize that increasing resistance during moving about and advancing slows down
Mode operation improves travelling braking ability.By adjusting the direction of foot, left front foot and left back foot increase downwards advance resistance in water
Power, right front foot and right metapedes reduce advance resistance upwards, realize when bio-robot moves about in water through full existing left-hand bend
Movement reduces turning radius, improves turning efficiency.By adjusting the direction of foot, left front foot and left back foot reduce upwards in water
Advance resistance, right front foot and right metapedes increase downwards advance resistance, realize when bio-robot moves about in water by full existing
It turns right and moves, reduce turning radius, improve turning efficiency.By adjusting the direction of foot, in water left front foot and right front foot to
Lower increase advance resistance, left back foot and right metapedes reduce advance resistance upwards, realize and pass through when bio-robot moves about in water
Full movement of now diving reduces dive turning radius, improves turning efficiency.By adjusting foot direction, in water left front foot and
Right front foot reduces advance resistance upwards, and left back foot and right metapedes increase downwards advance resistance, realizes that bio-robot is swum in water
By full movement of now facing upward when dynamic, reduce turning radius of facing upward, improves turning efficiency.By adjusting the direction of foot, realize
Diagonal strut movement on ground.In land when left front foot and right metapedes support ground downwards, right front foot and left back foot to
Upper be in swings vacant state；When right front foot and left back foot support ground downwards, left front foot and right metapedes are in swing upwards
Vacant state；The sufficient cyclic switching supporting movement in left and right, realizes the forward travel on ground.Pass through the vertically reciprocating swing of tail fin and body
The horizontal reciprocating swing mode of body is, it can be achieved that bio-robot advances and moves up and down in water, in conjunction with four-footed rotary motion tune
Whole left and right and upper lower thrust, control direction with this.The hook structure of four-footed can realize complicated rough surface, dry adhesion material structure
It is adapted to smooth surface, the sufficient structure of " C " type can make bio-robot adapt to complicated terrestrial environment, have superior get over
Wild nature energy.
The present invention has the following advantages compared with prior art:
1, the present invention can be realized dwell more robot in water, rugged land, coarse or smooth metope movement, have
Superior locomitivity of dwelling, environmental suitability strong more.
2, it is convenient that structure of the invention is simple, motion principle is clear, movement is realized.
3, the dry adhesion material in the present invention can Shi Duoqi robot in smooth and minimum coefficient of friction surface (such as glass
Glass) on more stable slope climbing movement.
4, the present invention in using hook mode can Shi Duoqi robot on the high surface of coefficient of friction (such as rock)
More stable slope climbing movement.
5, clever structure of the invention, small in size, light-weight, easy to process, economically feasible can be the water under natural environment
The cross-country mobile platform of face-full landform of land-metope provides solution.
A kind of dry adhesion four-footed in conjunction with hook is dwelt robot more, it is characterised in that: on the left of body main structure
Foot and right side foot it is axially symmetric along body；Left front foot is identical with left back sufficient structure；Right front foot is identical with right metapedes structure.It should
Symmetrical structure design, structure is simple, motion principle is clear, the motion stabilization for the robot that is conducive to more to dwell.
A kind of dry adhesion four-footed in conjunction with hook is dwelt robot more, it is characterised in that: above-mentioned N=4, M=2.The ginseng
Table structure meet body it is flexible on the basis of, reduce motion control difficulty, better meet the various bionical fortune of robot of dwelling more
Dynamic model formula.
A kind of dry adhesion four-footed in conjunction with hook is dwelt robot more, it is characterised in that: above-mentioned I=5, J=3.The ginseng
Table structure reduces structure complexity under the premise of adapting to rough surface and smooth surface, betters meet and dwells robot in land more
Walking movement requirement on the surfaces such as ground and metope.
Detailed description of the invention
Fig. 1 is that a kind of dry adhesion of the present invention is dwelt four-footed robot overall pattern more with hook in conjunction with；
Fig. 2 is that a kind of dry adhesion of the present invention is dwelt four-footed robot decomposition diagram more with hook in conjunction with；
Fig. 3 is that a kind of dry adhesion of the present invention is dwelt four-footed the right side foot decomposition diagram of robot more with hook in conjunction with；
Fig. 4 is that a kind of dry adhesion of the present invention is dwelt four-footed the left side foot decomposition diagram of robot more with hook in conjunction with；
Fig. 5 is that a kind of dry adhesion of the present invention is dwelt four-footed the tail fin horizontal swinging movement signal to the right of robot more with hook ining conjunction with
Figure；
Fig. 6 is that a kind of dwell four-footed with hook the ining conjunction with tail fin by-level pendulum motion of robot of dry adhesion of the present invention is illustrated more
Figure；
Fig. 7 is that a kind of dry adhesion of the present invention is dwelt four-footed the tail fin horizontal swinging movement signal to the left of robot more with hook ining conjunction with
Figure；
Fig. 8 is that a kind of dry adhesion of the present invention is dwelt four-footed the tail fin and the fortune of body levels swing state 1 of robot more with hook ining conjunction with
Dynamic schematic diagram；
Fig. 9 is that a kind of dry adhesion of the present invention is dwelt four-footed the tail fin and the fortune of body levels swing state 2 of robot more with hook ining conjunction with
Dynamic schematic diagram；
Figure 10 is that a kind of dwell four-footed with hook in conjunction with the tail fin vertical oscillation of robot of dry adhesion of the present invention moves upwards signal more
Figure；
Figure 11 is that a kind of dwell four-footed with hook the ining conjunction with tail fin vertical oscillation intermediary movements of robot of dry adhesion of the present invention are illustrated more
Figure；
Figure 12 is that a kind of dwell four-footed with hook in conjunction with the tail fin vertical oscillation of robot of dry adhesion of the present invention moves downward signal more
Figure；
Figure 13 is that a kind of more the dwell four-footed of robot of dry adhesion of present invention four-footed with hook ining conjunction with adjusts drag reduction mode of moving about of keeping straight on
Schematic diagram；
Figure 14 is that a kind of more the dwell four-footed of robot of dry adhesion of present invention four-footed with hook ining conjunction with adjusts straight trip and moves about increasing resistance mode
Schematic diagram；
Figure 15 is that a kind of more the dwell four-footed adjusting left-hand rotation travelling mode of robot of dry adhesion of present invention four-footed with hook ining conjunction with is illustrated
Figure；
Figure 16 is that a kind of more the dwell four-footed adjusting right-hand rotation travelling mode of robot of dry adhesion of present invention four-footed with hook ining conjunction with is illustrated
Figure；
Figure 17 is that a kind of more the dwell four-footed of robot of dry adhesion of present invention four-footed with hook ining conjunction with adjusts dive mode of moving about and illustrates
Figure；
Figure 18 is that a kind of more the dwell four-footed of robot of dry adhesion of present invention four-footed with hook ining conjunction with adjusts travelling mode of facing upward and illustrates
Figure；
Figure 19 is that a kind of dwell four-footed with hook in conjunction with the four-footed ground straight-going mode state 1 of robot of dry adhesion of the present invention is shown more
It is intended to；
Figure 20 is that a kind of dwell four-footed with hook in conjunction with the four-footed ground straight-going mode state 2 of robot of dry adhesion of the present invention is shown more
It is intended to；
Figure 21 be a kind of dry adhesion of the present invention dwelling four-footed with hook ining conjunction with more robot body and tail fin horizontal vertical swing
Compound motion schematic diagram；
Label title in Fig. 1-2 1: 1, camera；2, head Y-axis steering engine；3, forefoot support frame；4, the near front wheel Y-axis steering engine；
5, off-front wheel Y-axis steering engine；6, Right side support foot；7, right side blade；8, the first hook of right side；9, the first dry adhesion of right side material
Material；10, battery；11, body Z axis is to the first steering engine；12, body Z axis is to the U-shaped connector of the first steering engine；13, body Z axis is to
Two steering engines；14, body Z axis is to the U-shaped connector of the second steering engine；15, body Z axis is to third steering engine；16, body Z axis is to third rudder
The U-shaped connector of machine；17, body Z axis is to the 4th steering engine；18, metapedes support frame；19, left rear wheel Y-axis steering engine；20, off hind wheel Y
Axial steering engine；21, Left-side support foot；22, left side blade；23, the first hook of left side；24, the first dry adhesion of left side material；25,
Control circuit board；26, tail X axis steering engine；27, the U-shaped connector of tail X axis steering engine；28, tail Z axis is to the first steering engine；
29, tail Z axis is to the U-shaped connector of the first steering engine；30, tail Z axis is to the second steering engine；31, tail fin；32, the second hook of right side；
33, the second dry adhesion of right side material；34, right side third hook；35, right side third dry adhesion material；36, the 4th hook of right side；
37, the 4th dry adhesion material of right side；38, the 5th hook of right side；39, the 5th dry adhesion material of right side；40, the second hook of left side；
41, the second dry adhesion of left side material；42, left side third hook；43, left side third dry adhesion material；44, the 4th hook of left side；
45, the 4th dry adhesion material of left side；46, the 5th hook of left side；47, the 5th dry adhesion material of left side；L1, left front foot；It is L2, left back
Foot；R1, right front foot；R2, right metapedes.Wherein X, Y, Z are corresponding three-dimensional space coordinates.
Specific embodiment
Invention is further described in detail in the following with reference to the drawings and specific embodiments:
In conjunction with Fig. 1-2 1, the present embodiment is that a kind of dry adhesion is dwelt four-footed robot and its bionic movement more with hook in conjunction with, including
Camera 1, head Y-axis steering engine 2, forefoot support frame 3, the near front wheel Y-axis steering engine 4, off-front wheel Y-axis steering engine 5, Right side support
Foot 6, right side blade 7, the first hook of right side 8, right side the first dry adhesion material 9, battery 10, body Z axis are to the first steering engine 11, body
Body Z axis to the U-shaped connector 12 of the first steering engine, body Z axis to the second steering engine 13, body Z axis to the U-shaped connector 14 of the second steering engine,
Body Z axis is supported to third steering engine 15, body Z axis to the U-shaped connector 16 of third steering engine, body Z axis to the 4th steering engine 17, metapedes
Frame 18, left rear wheel Y-axis steering engine 19, off hind wheel Y-axis steering engine 20, Left-side support foot 21, left side blade 22, the first hook of left side
23, the first dry adhesion of left side material 24, control circuit board 25, tail X axis steering engine 26, the U-shaped connector of tail X axis steering engine
27, tail Z axis is to the first steering engine 28, tail Z axis to the U-shaped connector 29 of the first steering engine, tail Z axis to the second steering engine 30, tail fin
31, the second hook of right side 32, right side the second dry adhesion material 33, right side third hook 34, right side third dry adhesion material 35, the right side
The 4th hook 36 of side, the 4th dry adhesion material 37 of right side, the 5th hook 38 of right side, the 5th dry adhesion material 39 of right side, left side
Two hooks 40, left side the second dry adhesion material 41, left side third hook 42, left side third dry adhesion material 43, the 4th hook of left side
Pawl 44, the 4th dry adhesion material 45 of left side, the 5th hook 46 of left side, the 5th dry adhesion material 47 of left side, left front foot L1, left back foot
L2, right front foot R1, right metapedes R2.
In conjunction with Fig. 2, the present embodiment is that a kind of dry adhesion is dwelt four-footed robot and its bionic movement more with hook in conjunction with, including
Camera 1, head Y-axis steering engine 2, forefoot support frame 3, the near front wheel Y-axis steering engine 4, off-front wheel Y-axis steering engine 5, left front foot
L1, right front foot R1 and battery 10.The rotary output of head Y-axis steering engine 2 is fixed with 3 front end of forefoot support frame along Y-axis, camera shooting
First 1 is fixed on head Y-axis steering engine 2 along X-axis；The fixed company of 4 rotary output of the near front wheel Y-axis steering engine and the left front foot center L1
It connects, 5 rotary output of off-front wheel Y-axis steering engine is fixedly connected with the center right front foot R1；Before the near front wheel Y-axis steering engine 4 is fixed on
Left upper end, the off-front wheel Y-axis steering engine 5 of sufficient support frame 3 are fixed on the upper right side of forefoot support frame 3.Battery 10 is fixed on front foot
Right above support frame 3.
In conjunction with Fig. 2, the present embodiment is that a kind of dry adhesion is dwelt four-footed robot and its bionic movement more with hook in conjunction with, including
Body Z axis is to the first steering engine 11, body Z axis to the U-shaped connector 12 of the first steering engine, body Z axis to the second steering engine 13, body Z axis
To the U-shaped connector 14 of the second steering engine, body Z axis to third steering engine 15, body Z axis to the U-shaped connector 16 of third steering engine, body Z
Axial 4th steering engine 17.Body Z axis is fixed with 3 rear end of forefoot support frame along Z axis to 11 rotary output of the first steering engine, body Z
The other end and body Z axis of axial first steering engine 11 are fixed to the U-shaped connector 12 of the first steering engine；Body Z axis is to the second steering engine 13
Rotary output is fixed to the U-shaped connector 12 of the first steering engine along Z axis with body Z axis, the other end of the body Z axis to the second steering engine 13
It is fixed to the U-shaped connector 14 of the second steering engine with body Z axis；Body Z axis is to 15 rotary output of third steering engine and Z axis to the second rudder
The U-shaped connector 14 of machine is fixed along Z axis, the other end from body Z axis to third steering engine 15 and body Z axis to the U-shaped connection of third steering engine
Part 16 is fixed；Body Z axis is solid along Z axis to 17 rotary output of the 4th steering engine and body Z axis to the U-shaped connector 16 of third steering engine
Fixed, body Z axis is fixed on 18 front end of metapedes support frame to 17 other end of the 4th steering engine.
In conjunction with Fig. 2, the present embodiment is that a kind of dry adhesion is dwelt four-footed robot and its bionic movement more with hook in conjunction with, including
Behind metapedes support frame 18, left rear wheel Y-axis steering engine 19, off hind wheel Y-axis steering engine 20, control circuit board 25, left back foot L2 and the right side
Sufficient R2.19 rotary output of left rear wheel Y-axis steering engine is fixedly connected with the left back foot center L2, and off hind wheel Y-axis steering engine 20 rotates
Output end is fixedly connected with the center right metapedes R2；After left rear wheel Y-axis steering engine 19 is fixed on the left upper end of metapedes support frame 18, the right side
Wheel Y-axis steering engine 20 is fixed on the upper right side of metapedes support frame 18.Control circuit board 25 is fixed on right above metapedes support frame 18.
In conjunction with Fig. 2, the present embodiment is that a kind of dry adhesion is dwelt four-footed robot and its bionic movement more with hook in conjunction with, including
The U-shaped connector 27 of tail X axis steering engine 26, tail X axis steering engine, tail Z axis are to the first steering engine 28, tail Z axis to the first rudder
The U-shaped connector 29 of machine, tail Z axis are to the second steering engine 30, tail fin 31.26 rotary output of tail X axis steering engine and metapedes support
18 rear end of frame is fixed along X-axis, and 26 other end of tail X axis steering engine and the U-shaped connector 27 of tail X axis steering engine are fixed；Tail Z axis
It is fixed to 28 rotary output of the first steering engine and the U-shaped connector 27 of tail X axis steering engine along Z axis, tail Z axis is to the first steering engine 28
The other end and tail Z axis are fixed to the U-shaped connector 29 of the first steering engine；Tail Z axis is to 30 rotary output of the second steering engine and tail Z
The axial U-shaped connector 29 of first steering engine is fixed along Z axis, and tail Z axis is fixed to the second steering engine 30 and tail fin 31.
In conjunction with Fig. 2, the present embodiment is that a kind of dry adhesion is dwelt four-footed robot and its bionic movement more with hook in conjunction with, including
Left front foot L1, left back foot L2, right front foot R1, right metapedes R2.Left front foot L1 is identical with left back foot L2 structure；Right front foot R1 and it is right after
Sufficient R2 structure is identical.Left front foot L1 and right front foot R1 axial plane symmetrical configuration along body；Left back foot L2 and right metapedes R2 are along body
Middle axial plane symmetrical configuration.
In conjunction with Fig. 3, the present embodiment is that a kind of dry adhesion is dwelt four-footed robot and its bionic movement more with hook in conjunction with, including
Right side support foot 6, right side blade 7, the first hook of right side 8, right side the first dry adhesion material 9, the second hook of right side 32, right side the
Two dry adhesion materials 33, right side third hook 34, right side third dry adhesion material 35, the 4th hook 36 of right side, right side the 4th are dry
Adhesion material 37, the 5th hook 38 of right side, the 5th dry adhesion material 39 of right side." C " type, right side blade 7 is presented in Right side support foot 6
It is fixed on the lateral surface of Right side support foot 6；6 bottom surfaces of Right side support foot are evenly distributed with 5 pairs of hooks and dry adhesion material respectively, wherein right
The first hook of side 8 is fixed at Right side support 6 bottom surface tips of foot in hole, hook forward-facing lower section；Right side the first dry adhesion material
Expect that 6 bottom surfaces of Right side support foot are fixed in 9 one end, right side 9 other ends of the first dry adhesion material are hanging towards front lower place, and cantilever is presented
State.The second hook of right side 32, right side third hook 34, the 4th hook 36 of right side, the 5th hook 38 of right side, right side the 5th are dry viscous
Enclosure material 39 is in turn secured to respectively at Right side support 6 bottom surface tips of foot in hole, hook forward-facing under.The second dry adhesion of right side
One end point of material 33, right side third dry adhesion material 35, the 4th dry adhesion material 37 of right side, the 5th dry adhesion material 39 of right side
It is not in turn secured to 6 bottom surfaces of Right side support foot, other end is hanging towards front lower place, and cantilever position is presented.Right front foot is formed with this
R1 and right metapedes R2.
In conjunction with Fig. 4, the present embodiment is that a kind of dry adhesion is dwelt four-footed robot and its bionic movement more with hook in conjunction with, including
Left-side support foot 21, left side blade 22, the first hook of left side 23, left side the first dry adhesion material 24, the second hook of left side 40, a left side
Side the second dry adhesion material 41, left side third hook 42, left side third dry adhesion material 43, the 4th hook 44 of left side, left side
Four dry adhesion materials 45, the 5th hook 46 of left side, the 5th dry adhesion material 47 of left side." C " type, left side is presented in Left-side support foot 21
Blade 22 is fixed on the lateral surface of Left-side support foot 21；21 bottom surfaces of Left-side support foot are evenly distributed with 5 pairs of hooks and dry adhesion material respectively
Material, wherein the first hook 23 of left side is fixed at Left-side support 21 bottom surface tips of foot in hole, hook forward-facing lower section；Left side
21 bottom surfaces of Left-side support foot are fixed in one dry adhesion material, 24 one end, and the first dry adhesion material 24 other end in left side is towards front lower place
Vacantly, cantilever position is presented.The second hook of left side 40, left side third hook 42, the 4th hook 44 of left side, the 5th hook 46 of left side
It is in turn secured at Left-side support 21 bottom surface tips of foot in hole respectively, hook forward-facing lower section.Left side the second dry adhesion material
41, left side third dry adhesion material 43, the 4th dry adhesion material 45 of left side, the 5th dry adhesion material 47 of left side one end respectively according to
Secondary to be fixed on 21 bottom surfaces of Left-side support foot, other end is hanging towards front lower place, and cantilever position is presented.With this form left front foot L1 and
Left back foot L2.
In conjunction with Fig. 5, Fig. 6 and Fig. 7, the present embodiment is that a kind of dry adhesion is dwelt four-footed robot and its bionical more with hook in conjunction with
Movement, wherein successively realized in the horizontal direction by tail fin it is right-in-left motion mode can in conjunction with reciprocation cycle motion control
To realize that bionic machine human simulation tail fin is swung back and forth horizontally, water flow is pushed, to tail fin travelling mode before realizing.
In conjunction with Fig. 8 and Fig. 9, the present embodiment is that a kind of dry adhesion is dwelt four-footed robot and its bionical fortune more with hook in conjunction with
It is dynamic, wherein successively realizing the motion mode of left and right reciprocally swinging in the horizontal direction by tail fin and body, bionical machine may be implemented
Device human simulation tail fin and body levels reciprocally swinging push water flow, to overall flexibility travelling mode before realizing.
In conjunction with Figure 10, Figure 11 and Figure 12, the present embodiment be a kind of dry adhesion dwelling four-footed with hook in conjunction with more robot and its
Bionic movement, wherein is successively realized by tail fin in vertical direction-in-under motion mode, in conjunction with reciprocation cycle movement control
The vertically reciprocating swing of bionic machine human simulation tail fin may be implemented in system, pushes water flow, realizes tail fin travelling mode up and down.
In conjunction with Figure 13, the present embodiment is that a kind of dry adhesion is dwelt four-footed robot and its bionic movement more with hook in conjunction with,
In by adjusting foot direction, in water when left front foot L1, left back foot L2, right front foot R1 and right metapedes R2 upwards reduce advance hinder
Power realizes velocity increased by resistance reduction mode operation during moving about advance, improves travelling speed and efficiency.
In conjunction with Figure 14, the present embodiment is that a kind of dry adhesion is dwelt four-footed robot and its bionic movement more with hook in conjunction with,
In by adjusting foot direction, in water when left front foot L1, left back foot L2, right front foot R1 and right metapedes R2 downwards increase advance hinder
Power is realized and increases resistance deceleration mode operation during moving about and advancing, improves travelling braking ability.
In conjunction with Figure 15, the present embodiment is that a kind of dry adhesion is dwelt four-footed robot and its bionic movement more with hook in conjunction with,
In by adjusting foot direction, left front foot L1 and left back foot L2 increase downwards advance resistance, right front foot R1 and right metapedes in water
R2 reduces advance resistance upwards, realizes when bio-robot moves about in water through full existing left-hand bend campaign, reduces turning half
Diameter improves turning efficiency.
In conjunction with Figure 16, the present embodiment is that a kind of dry adhesion is dwelt four-footed robot and its bionic movement more with hook in conjunction with,
In by adjusting foot direction, left front foot L1 and left back foot L2 reduce advance resistance, right front foot R1 and right metapedes upwards in water
R2 increases downwards advance resistance, realizes when bio-robot moves about in water through full existing right-hand bend campaign, reduces turning half
Diameter improves turning efficiency.
In conjunction with Figure 17, the present embodiment is that a kind of dry adhesion is dwelt four-footed robot and its bionic movement more with hook in conjunction with,
In by adjusting foot direction, left front foot L1 and right front foot R1 increases downwards advance resistance, left back foot L2 and right metapedes in water
R2 reduces advance resistance upwards, realizes when bio-robot moves about in water through full movement of now diving, reduces dive turning
Radius improves turning efficiency.
In conjunction with Figure 18, the present embodiment is that a kind of dry adhesion is dwelt four-footed robot and its bionic movement more with hook in conjunction with,
In by adjusting foot direction, left front foot L1 and right front foot R1 reduces advance resistance, left back foot L2 and right metapedes upwards in water
R2 increases downwards advance resistance, realizes when bio-robot moves about in water through full movement of now facing upward, reduces turning of facing upward
Radius improves turning efficiency.
In conjunction with Figure 19 and Figure 20, the present embodiment is that a kind of dry adhesion is dwelt four-footed robot and its bionical fortune more with hook in conjunction with
It is dynamic, wherein realizing diagonal strut movement on the ground by adjusting the direction of foot.Work as left front foot L1 and right metapedes in land
When R2 supports downwards ground, right front foot R1 and left back foot L2 are in swing vacant state upwards；As right front foot R1 and left back foot L2
Downwards when support ground, left front foot L1 and right metapedes R2 are in swing vacant state upwards；The sufficient cyclic switching supporting movement in left and right,
Realize the forward travel on ground.
Wherein combine Figure 21, the present embodiment is that a kind of dry adhesion is dwelt four-footed robot and its bionical fortune more with hook in conjunction with
It is dynamic, wherein by the horizontal reciprocating swing mode of the vertically reciprocating swing of tail fin and body, it can be achieved that bio-robot in water before
Into and move up and down, in conjunction with four-footed rotary motion adjust left and right and upper lower thrust, direction is controlled with this.The hook structure of four-footed can
Realize that complicated rough surface, dry adhesion material structure are adapted to smooth surface, the sufficient structure of " C " type can make bio-robot
Complicated terrestrial environment is adapted to, there is superior cross-country ability.
Claims (4)
- The robot 1. a kind of dry adhesion four-footed in conjunction with hook is dwelt more, it is characterised in that:Including body main structure, neck structure, four foot structures；It further include battery (10), control circuit board (25)；Above-mentioned body main structure from front to back successively include forefoot support frame (3), N number of body Z axis steering engine being sequentially connected in series, after Sufficient support frame (18), wherein 3≤N≤6；Wherein first body Z axis steering engine is known as the first body Z axis steering engine from front to back, most The latter body Z axis steering engine is known as N body Z axis steering engine；Wherein connected between body Z axis steering engine by the U-shaped connector of steering engine, The rear end of U-shaped connector and the output shaft of the body Z axis steering engine at rear are mutually fixed, the front end of U-shaped connector and the body Z in front Axis steering engine body is mutually fixed；Wherein the rear end of forefoot support frame 3 and the output shaft of the first body Z axis steering engine are mutually fixed；After wherein The front end of sufficient support frame (18) is mutually fixed with 17 body of N body Z axis steering engine；Above-mentioned neck structure includes head Y-axis steering engine (2) and camera (1)；The wherein output shaft of head Y-axis steering engine (2) It is mutually fixed with the front end of forefoot support frame (3), camera (1) is fixed on head Y-axis steering engine (2) body；Above-mentioned tail structure successively includes: tail X axis steering engine (26), the U-shaped connector of tail X axis steering engine from front to back (27), M tail Z axis steering engine, the tail fins (31) being sequentially connected in series, wherein 2≤M≤4；Wherein first tail Z axis from front to back Steering engine is known as the first tail Z axis steering engine, the last one tail Z axis steering engine is known as M tail Z axis steering engine；Wherein tail Z axis steering engine Between by steering engine U-shaped connector connection, the output shaft of the tail Z axis steering engine of the rear end and rear of U-shaped connector is mutually fixed, U The front end of type connector and the tail Z axis steering engine body in front are mutually fixed；Tail X axis steering engine (26) rotary output and metapedes Support frame (18) rear end is fixed along X-axis, and tail X axis steering engine (26) other end and the U-shaped connector of tail X axis steering engine (27) are solid It is fixed；The rotary output of first tail Z axis steering engine is fixed with the U-shaped connector of tail X axis steering engine (27) along Z axis, wherein tail fin It is mutually fixed with M tail Z axis steering engine body；Above-mentioned foot structure is made of foot Y-axis steering engine, foot；The rotation that one end of its mesopodium is fixedly installed in foot Y-axis steering engine is defeated Outlet, foot Y-axis steering engine are fixed on the end of forefoot support frame or metapedes support frame；Above-mentioned foot includes support foot and blade；" C " type is presented in support foot, and blade is fixed on the lateral surface of support foot；Support foot bottom surface is provided with I row's toe block, 4≤I≤6 from front to back；Every row's toe block installs J hook, hook from left to right Pawl forward-facing lower section, 3≤J≤6；A piece of dry adhesion material is installed below every row's toe block, it is fixed on rear side of dry adhesion material rear end and corresponding toe block, front end to Fovea superior rises, and towards front lower place, whole is in cantilever position on adhesion material surface.
- The robot 2. a kind of dry adhesion according to claim 1 four-footed in conjunction with hook is dwelt more, it is characterised in that:The foot, it is characterised in that: the foot of foot and right side on the left of body main structure is axially symmetric along body；Left front foot and Left back foot structure is identical；Right front foot is identical with right metapedes structure.
- 3. the robots of dwelling of dry adhesion hook four-wheel foot paddle driving according to claim 1 more, it is characterised in that:Above-mentioned N=4, M=2, I=5, J=3.
- Robot and its bionic movement method 4. a kind of dry adhesion according to claim 1 four-footed in conjunction with hook is dwelt more, It is characterized by:Successively realized in the horizontal direction by tail fin (31) it is right-in-left motion mode, it is real in conjunction with reciprocation cycle motion control Existing bionic machine human simulation tail fin is swung back and forth horizontally, pushes water flow, to tail fin travelling mode before realizing；The motion mode for successively realizing left and right reciprocally swinging in the horizontal direction by tail fin and body, may be implemented bio-robot Tail fin and body levels reciprocally swinging are simulated, water flow is pushed, to overall flexibility travelling mode before realizing；Successively realized by tail fin in vertical direction-in-under motion mode realized imitative in conjunction with reciprocation cycle motion control The raw vertically reciprocating swing of robot simulation's tail fin, pushes water flow, realizes tail fin travelling mode up and down；It is real in water when left front foot, left back foot, right front foot and right metapedes reduce advance resistance upwards by adjusting the direction of foot Velocity increased by resistance reduction mode operation during travelling is advanced now improves travelling speed and efficiency；It is real in water when left front foot, left back foot, right front foot and right metapedes increase downwards advance resistance by adjusting the direction of foot Increase resistance deceleration mode operation during travelling is advanced now, improves travelling braking ability；By adjusting the direction of foot, left front foot and left back foot increase downwards advance resistance in water, and right front foot and right metapedes are upward Reduce advance resistance, realizes when bio-robot moves about in water through full existing left-hand bend campaign, reduce turning radius, improve Turning efficiency；By adjusting the direction of foot, left front foot and left back foot reduce advance resistance upwards in water, and right front foot and right metapedes are downward Increase advance resistance, realizes when bio-robot moves about in water through full existing right-hand bend campaign, reduce turning radius, improve Turning efficiency；By adjusting the direction of foot, left front foot and right front foot increase downwards advance resistance in water, and left back foot and right metapedes are upward Reduce advance resistance, realizes when bio-robot moves about in water through full movement of now diving, reduce dive turning radius, mention Height turning efficiency；By adjusting the direction of foot, left front foot and right front foot reduce advance resistance upwards in water, and left back foot and right metapedes are downward Increase advance resistance, realizes when bio-robot moves about in water through full movement of now facing upward, reduce turning radius of facing upward, mention Height turning efficiency；By adjusting the direction of foot, diagonal strut movement on the ground is realized；In land when left front foot and right metapedes are downward When supporting ground, right front foot and left back foot are in swing vacant state upwards；When right front foot and left back foot support ground downwards, Left front foot and right metapedes are in swing vacant state upwards；The sufficient cyclic switching supporting movement in left and right, realizes and transports in the advance on ground It is dynamic；By the vertically reciprocating swing of tail fin with the horizontal reciprocating swing mode of body, it can be achieved that bio-robot advance in water and It moves up and down, adjusts left and right and upper lower thrust in conjunction with four-footed rotary motion, direction is controlled with this；The hook Structure adaptation complexity rough surface of four-footed, dry adhesion material structure adapt to smooth surface, and the sufficient structure of " C " type makes Bio-robot adapts to complicated terrestrial environment.
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