CN109605400A - Three-dimensional porous graphene Composite sucker formula imitates gecko foot type multi-function robot - Google Patents
Three-dimensional porous graphene Composite sucker formula imitates gecko foot type multi-function robot Download PDFInfo
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- CN109605400A CN109605400A CN201910067857.8A CN201910067857A CN109605400A CN 109605400 A CN109605400 A CN 109605400A CN 201910067857 A CN201910067857 A CN 201910067857A CN 109605400 A CN109605400 A CN 109605400A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
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Abstract
The invention discloses a kind of three-dimensional porous graphene Composite sucker formulas to imitate gecko foot type multi-function robot, comprising: three-dimensional porous graphene Composite sucker formula imitates gecko foot, laser thermoelectric converter, multi-functional tail, body, head；It includes: that three-dimensional porous graphene Composite sucker formula imitates gecko vola, three-dimensional porous graphene Composite sucker formula imitates gecko toes that three-dimensional porous graphene Composite sucker formula imitates gecko enough；It includes: three-dimensional porous graphene Composite sucker, podarthrum driver that three-dimensional porous graphene Composite sucker formula, which imitates gecko vola,；Three-dimensional porous graphene Composite sucker specifically includes that three-dimensional porous graphene, carbon nano-tube film, carbon nano pipe array, vacuum chamber.The present invention, which can be realized, overcomes the problems, such as that the existing absorption of traditional climbing robot catches wall surface not firm and actively desorption leaves that wall surface is not quick, its wall ability of climbing under the conditions of hydraulically rough surface or wall surface micro chink is made to effectively improve.
Description
Technical field
The invention belongs to climb wall robot, artificial intelligence and wall surface recovery technique field, relate more specifically to one kind three
It ties up porous graphene Composite sucker formula and imitates gecko foot type multi-function robot.
Background technique
With the rapid development of economy, skyscraper is also more and more, climbing robot leads the application of skyscraper
Have following several respects: wall surface detection, wall surface cleaning, wall surface maintenance, wall spraying, ceramic tile installation, equipment installation and wall surface are repaired
It is multiple etc..Climbing robot can replace manual work, can bridge pier wall surface, hull wall surface, building wall surface, pipeline wall surface and
Large-scale chimney wall surface, which is creeped, detects whether situations such as haveing damage.Climbing robot has the advantage that (1) is adopted relative to manual work
It is the mode of vacuum suction, is adapted to the wall surface of different gradients；(2) higher can sidle of flexibility can be endways
It walks；(3) it can not be limited by height, be able to carry out high altitude operation.The operation of skyscraper exists certain for artificial
Difficulty and risk, climbing robot can replace manual operation, can save cost of labor in this way, can ensure the peace of worker
Entirely.Carrying out the maintenance to wall surface using wall robot gradually will replace people to be engaged in dangerous high altitude operation, this will be a hair
Exhibition trend.Climbing robot can also be used for the scenes such as earthquake relief and fire-fighting and rescue.Such as personnel lock into skyscraper can
To use climbing robot to carry out transmitting emergency goods and materials.There are also the applications of a lot of other aspects for certain climbing robot, for example fill
Upper laser derusts for large ship, or changes other devices, the spray painting etc. for ship.In traffic transport industry, climb
Wall robot can be detected and be safeguarded to bridge；In earthquake relief work, climbing robot can cross dangerous wall surface into
The exploration of row signal；Climbing robot also has very extensive application in nuclear industry, and climbing robot, which is mainly used for detection, to be held
Device is with the presence or absence of breakage.Climbing robot, can be clear instead of manually performing wall surface as one important branch of robot type
The work such as clean, wall surface maintenance, wall surface detection.Therefore climbing robot is with good economic efficiency and broad application prospect.
But the problem of there is also a technical bottlenecks for the research of climbing robot both at home and abroad, it is exactly that robot exists
Adsorb the suction type problem on wall surface.The common suction type of climbing robot has: vacuum suction, magnetic-adsorption, bristle are inhaled
It is attached.Vacuum suction is mainly adsorbed on the leg of robot on wall using the principle of atm difference, this is current wall-climbing device
The adsorption method that people mainly uses.Magnetic-adsorption relies primarily on magnetic conduction face, and limitation is bigger.Bionics is climbing robot
One new direction, bristle absorption is bionic application.The principle of bristle absorption is the Van der Waals force between molecule, this at present
Method can only also be suitble to small-sized wall-climbing robot.
Therefore the level of people's expectation has not been reached yet in climbing robot and technology, and there are also one section for the actual demand from people
Distance is mainly reflected in: there is also technological deficiencies in terms of stablizing absorption and grabbing wall and wall surface is actively desorbed for climbing robot.When
Before, how further to solve and overcome climbing robot in terms of stablizing absorption and grabbing wall and wall surface is actively desorbed there is also technology
How defect quickly carries out electric energy supplement to climbing robot during operation, has climbing robot and climbs wall, inspection
Multiple functions, the these problems such as survey, maintenance, reparation have to be solved.
Summary of the invention
Develop existing series of problems for current climbing robot field technology, the present invention provides a kind of three-dimensional porous stone
Black alkene Composite sucker formula imitates gecko foot type multi-function robot, to reach the performance indexes that optimization improves climbing robot.
A kind of three-dimensional porous graphene Composite sucker formula provided by the invention imitates the realization of gecko foot type multi-function robot
Specific technical solution includes: that three-dimensional porous graphene Composite sucker formula imitates gecko foot, laser thermoelectric converter, thigh, multi-functional
Tail, body, neck, head, intelligent controller；It includes: three-dimensional that the three-dimensional porous graphene Composite sucker formula imitates gecko enough
Porous graphene Composite sucker formula imitates gecko vola, three-dimensional porous graphene Composite sucker formula imitates gecko toes；The three-dimensional is more
It includes: three-dimensional porous graphene Composite sucker that hole graphene Composite sucker formula, which imitates gecko vola,；The three-dimensional porous graphene is multiple
It closes sucker and is assemblied in the middle part that three-dimensional porous graphene Composite sucker formula imitates gecko vola；The compound suction of three-dimensional porous graphene
Disk includes: three-dimensional porous graphene, receives micro fibre material array, vacuum chamber；The micro fibre material array of receiving is connected to three-dimensional
The lower section of porous graphene；The vacuum chamber is connected to the upper end of three-dimensional porous graphene；The intelligent controller control is three-dimensional
Porous graphene Composite sucker formula imitates gecko foot type multi-function robot and carries out climbing wall；Air in the vacuum chamber is pumped
Afterwards, the three-dimensional porous graphene is pressed on wall surface under external pressure effect, keeps three-dimensional porous graphene Composite sucker formula imitative
Gecko vola and three-dimensional porous graphene Composite sucker formula imitate the realization of gecko toes coordinated and grab wall；The micro fibre material of receiving
Array has viscous force, can generate collaboration and grab wall effect；The multi-functional tail, thigh, neck are connect with body, the head
Portion is connected to the top of neck, and the three-dimensional porous graphene Composite sucker formula is imitated gecko and connect enough with thigh；The intelligence control
Device processed is assemblied in body；The laser thermoelectric converter includes laser pickoff, photothermal laser obturator, the photothermal laser temperature difference
Electric organ；The laser pickoff and photothermal laser thermoelectric generator are assemblied in body, the photothermal laser obturator assembly
In multi-functional tail；The laser pickoff is connect with photothermal laser obturator and photothermal laser thermoelectric generator respectively；Institute
Laser pickoff is stated to receive laser and laser is transferred to photothermal laser obturator and photothermal laser thermoelectric generator respectively, it is described
Photothermal laser obturator realizes repairing concrete crack using laser or carries out ship derusting；The photothermal laser thermoelectric generator
It is produced electricl energy using laser and imitates the power supply of gecko foot type multi-function robot to three-dimensional porous graphene Composite sucker formula.
Further, the thigh, three-dimensional porous graphene Composite sucker formula are imitated the sufficient and three-dimensional porous graphene of gecko and are answered
It closes sucked type and imitates the quantity of gecko toes not less than three.
Further, it further includes podarthrum driver and toes that the three-dimensional porous graphene Composite sucker formula imitates gecko enough
Joint driver；The three-dimensional porous graphene Composite sucker formula imitates one end that gecko vola passes through podarthrum driver and thigh
Connection；The three-dimensional porous graphene Composite sucker formula imitates gecko toes and passes through toes joint driver and three-dimensional porous graphene
Composite sucker formula imitates the connection of gecko vola；Leg joint driver is assembled on the thigh；The other end of the thigh is closed by leg
Section driver is connect with body；Neck joint driver and neck joint driver are assembled on the neck, one end of the neck is logical
Neck joint driver is crossed to connect with head；The other end of the neck is connect by neck joint driver with body；More function
Spinal joint driver can be assembled on tail；The multi-functional tail is connect by spinal joint driver with body.
Further, the three-dimensional porous graphene Composite sucker further include receive micron film, hollow piston sealing block,
Hollow piston rod, eye bolt, spring, lower cover, upper end cover, nipple, corrugated conduit, long connecting tube；The three-dimensional
Micron film is received in the lower end connection of porous graphene；Micro fibre material array is received in the lower end connection for receiving micron film；It is described
Three-dimensional porous graphene has more hollow structures and has certain elasticity；The micron film of receiving can either reinforce three-dimensional porous graphene
To the leakproofness of gas, and micro fibre material array can be received convenient for there is huge surface area in its surface-assembled；Described three
The upper end of dimension porous graphene is connected with vacuum chamber；Outside is equipped with by the upper end of the three-dimensional porous graphene or vacuum chamber
Pressure sensor；The upper end of the vacuum chamber is connected with hollow piston sealing block；Outside the hollow piston sealing block
Side is lower cover；There is venthole in the middle part of the piston type sealing block, the upper end is connected with one end of hollow piston rod；In described
Spring is equipped on the outside of empty piston rod；The other end of the hollow piston rod is connected with one end of eye bolt；It is described with holes
The other end of bolt is connected with one end of nipple；The other end of the nipple with one end phase of corrugated conduit
Connection；The outside of the corrugated conduit is upper end cover；The other end of the corrugated conduit is connected with one end of long connecting tube
It connects；The other end of the long connecting tube is connected with toes joint driver.
Further, the three-dimensional porous graphene includes: three-dimensional porous graphene sponge, three-dimensional porous graphene bubble
It is foam, three-dimensional porous graphene aerogel, three-dimensional porous graphene hydrogel, three-dimensional porous graphene composite material, three-dimensional porous
Graphene oxide composite material or three-dimensional porous graphene oxide composite material；The three-dimensional porous graphene composite material includes: three
It is compound to tie up porous graphene sponge composite material, three-dimensional porous graphene aerogel composite material, three-dimensional porous grapheme foam
Material or three-dimensional porous graphene hydrogel composite material.
Further, vacuum pump and mechanism, battery are also equipped in the body；The vacuum pump and mechanism pass through company
Adapter tube road imitates gecko vola with three-dimensional porous graphene Composite sucker formula respectively, three-dimensional porous graphene Composite sucker formula imitates gecko
Toes are connected；The battery is connect with photothermal laser thermoelectric generator；The battery is used to store the photothermal laser temperature difference
The electric energy that electric organ generates.
Further, the photothermal laser thermoelectric generator includes: phase-change heat storage device, hot thermoelectric generator；The phase transformation
Thermal storage device is made of phase-change heat-storage material and Heat Conduction Material；Laser irradiation photo-thermal energy is transferred to phase transformation by the laser pickoff
Thermal storage device；The phase-change heat storage device is connected with the hot end of hot thermoelectric generator；Hot end and cold end due to hot thermoelectric generator
The temperature difference generates power generation effect, and power generation electric energy is transferred to battery.
Further, the photothermal laser obturator includes: fibre-optic bundle, photothermal laser repair head；The light
It leads fibre bundle and photothermal laser repair head is assemblied in multi-functional tail, one end of the fibre-optic bundle and laser pick-off
Device is connected, and the other end is connected with photothermal laser repair head；The laser pickoff passes through fibre-optic bundle for laser
It is transferred to photothermal laser repair head；The course of work of the photothermal laser repair head includes: (1) in intelligent controller
Instruction under, in photothermal laser repair head insertion wall surface distress in concrete, preparatory embedment wall surface concrete is received
Microcapsules carry out laser heating, are filled with renovation agent in microcapsules due to receiving, and receive microcapsules temperature liter under photothermal laser effect
Height, microcapsules of receiving be heated outer casing rupture after release renovation agent to concrete wall facial cleft stitch generate repairing effect；(2) in intelligent control
Under the instruction of device processed, the photothermal laser repair head be can be inserted in distress in concrete, to preparatory embedment wall surface concrete
Marmem carry out laser heating, the temperature of marmem quickly increases, and Memorability occurs for marmem
Thermal deformation, generate repair wall surface distress in concrete effect；(3) under the instruction of intelligent controller, the laser light hot repair
Laser can be used for large ship derusting work by multiple work head.
Further, the head is equipped with sensor, locator, communication device；The communication device includes: data letter
Breath receives and transmitter；It is more that the intelligent controller imitates gecko vola, three-dimensional with three-dimensional porous graphene Composite sucker formula respectively
Hole graphene Composite sucker formula imitate gecko toes, photothermal laser electric transducer, sensor, locator, communication device, vacuum pump and
Mechanism is connected with battery；Joint driver in the middle part of tail is equipped in the middle part of the multi-functional tail；The multi-functional tail
Not only having makes three-dimensional porous graphene Composite sucker formula imitate balance function of the gecko foot type multi-function robot when wall surface is creeped
Energy, additionally it is possible to the function needs for repairing wall surface work and repair procedure or progress are safeguarded according to detection to carry out replacement use, i.e.,
By the interface of multi-functional tail, replacement or selection have a tail of different function, thus the quantity of multi-functional tail be one,
Two, three or more.
Further, the leg joint driver, toes joint driver, podarthrum driver, neck joint driver, neck
Joint driver, spinal joint driver select motor and mechanical component driver, hydraulic and structure in the middle part of joint driver, tail
Part driver, pneumatic device and member driver, functional material driver, electromagnetic force and device driver, electrostatic force and device
Any one of driver, magnetic suspension force and member driver.
Further, the micro fibre material array of receiving includes: that carbon nano pipe array, silicon rubber receive micro fibre material battle array
Column, polyurethane receive micro fibre material array, polyester resin and receive micro fibre material array, polyimides and receive micro fibre material battle array
Column, artificial rubber receive micro fibre material array, epoxy resin and receive micro fibre material array, dimethyl silicone polymer and receive microfibre material
Material array, polyurethane and terephthaldehyde's acetoacetic ester receive micro fibre material array, poly- methacrylate formicester and receive micro fibre material battle array
Column, polydimethylsiloxane receive micro fibre material array；The carbon nano pipe array is made of chemical vapour deposition technique (CVD),
It include: TCD thermochemical deposition method (TCVD), gas ions enhancing chemical deposition (PECVD), floating catalytic chemical vapour deposition technique
(FCCVD)。
Further, it is described receive micron film include: carbon nano-tube film, graphene film, receive a micron inorganic thin film, receive
Micron organic film, nano-micron compound material film；The sensor includes: pressure sensor, temperature sensor, angle sensor
Device, humidity sensor, wind sensor.
The course of work that the three-dimensional porous graphene Composite sucker formula of the present invention imitates gecko foot type multi-function robot is as follows:
Intelligent controller instructs three-dimensional porous graphene Composite sucker formula to imitate gecko foot type multi-function robot and begins preparing
Work, vacuum pump and mechanism start operation.It is more that intelligent controller instructs three-dimensional porous graphene Composite sucker formula to imitate gecko foot type
Function robot starts to climb wall, and leg joint driver, toes joint driver, podarthrum driver, neck joint driver, neck close
The joint drivers such as joint driver, spinal joint driver start to cooperate with vacuum pump and mechanism in the middle part of section driver, tail
Work, vacuum pump and mechanism are by the controlled valve in long connecting tube, into corrugated conduit, nipple, eye bolt, hollow
Piston type sealing block, hollow piston rod take the air of vacuum chamber away, and vacuum chamber forms negative pressure；Due to suction function, sufficient inner ring
Three-dimensional porous graphene in the middle part of generate the spill swelled upwards, the both sides with action spot outer ring compress downwards and to middle shrinkages；
Due to suction function, the three-dimensional porous graphene of sufficient outer ring starts compression downwards under external pressure effect and compresses, and protrusion pressure
Certain pressure and adhesive force are formed in wall surface, three-dimensional porous graphene Composite sucker formula is promoted to imitate gecko vola and three-dimensional porous stone
Black alkene Composite sucker formula imitates the realization of gecko toes coordinated and grabs wall-like state；Gecko is imitated in three-dimensional porous graphene Composite sucker formula
Vola and three-dimensional porous graphene Composite sucker formula imitate the pressure sensor or angular transducer assembled in gecko toes, will be three-dimensional
Porous graphene Composite sucker formula imitates gecko vola and three-dimensional porous graphene Composite sucker formula imitates grabbing for each position of gecko toes
Wall angle grabs wall pressure force data information and is transferred to intelligent controller；It is three-dimensional to issue adjustment by calculation process for intelligent controller
Porous graphene Composite sucker formula imitates gecko vola and three-dimensional porous graphene Composite sucker formula imitates each position of gecko toes and grabs wall
Angle grabs wall pressure instruction, promotes to improve and grabs wall adhesive force；In podarthrum driver, toes joint driver, corrugated lead
It manages, under the synergistic effect of spring, three-dimensional porous graphene Composite sucker formula can be made, which to imitate gecko and can firmly catch enough, to be had
The wall surface of different performance.Three-dimensional porous graphene surface in sufficient outer ring receives micro fibre material array since surface area is huge,
It can be in close contact with wall surface or hydraulically rough surface or wall surface micro chink, make due to receiving micro fibre material array with certain viscous force
Firmly, collaboration can be generated and grab wall effect, generated and be superimposed and improve the active force for catching wall surface.
Under the regulation of intelligent controller, due to the fento of receiving using vacuum pump and mechanism and three-dimensional porous graphene surface
Dimension material array combines, and combines with podarthrum driver, joint driver, corrugated conduit and spring, so that three
Dimension porous graphene Composite sucker formula, which is imitated gecko foot type multi-function robot and be can be realized, to be overcome existing for traditional climbing robot
Absorption catches wall surface not firm and actively desorption leaves the not quick problem of wall surface, keeps it micro- in hydraulically rough surface or wall surface
Wall ability of climbing under the conditions of gap effectively improves.
Three-dimensional porous graphene Composite sucker formula imitates the laser thermoelectric converter packet that gecko foot type multi-function robot uses
It includes: laser pickoff, photothermal laser obturator and photothermal laser thermoelectric generator；Due to laser pickoff respectively with photothermal laser
Obturator is connected with photothermal laser thermoelectric generator；Laser irradiation photo-thermal energy is transferred to laser light by the laser pickoff
Phase-change heat storage device in hot thermoelectric generator；Phase-change heat storage device is connected with the hot end of hot thermoelectric generator；Since the hot temperature difference is sent out
The hot end of electric appliance and cold-end temperature difference generate power generation effect, and power generation electric energy is transferred to battery.Therefore, it is more to can be realized three-dimensional
The electric energy that graphene Composite sucker formula imitative gecko foot type multi-function robot in hole proceeds without cable during climbing wall work is real-time
Supplement.
Photothermal laser obturator combines laser pickoff with fibre-optic bundle and photothermal laser repair head, i.e., will
Fibre-optic bundle and photothermal laser repair head are assemblied in multi-functional tail, one end of fibre-optic bundle and laser pickoff
It is connected, the other end is connected with photothermal laser repair head, and has multi-functional repair: (1) in intelligent controller
Instruction under, photothermal laser repair head is inserted into wall surface distress in concrete, to micro- glue of receiving of preparatory embedment wall surface concrete
Capsule carries out laser heating, is filled with renovation agent in microcapsules due to receiving, and microcapsules temperature of receiving under photothermal laser effect increases, and receives
Renovation agent is released after the heated outer casing rupture of microcapsules, and generation repairing effect is stitched to concrete wall facial cleft；(2) in intelligent controller
Instruction under, photothermal laser repair head can be inserted in distress in concrete, remember to the shape of preparatory embedment wall surface concrete
To recall alloy and carries out laser heating, the temperature of marmem quickly increases, and the thermal deformation of Memorability occurs for marmem,
Generate the effect for repairing wall surface distress in concrete；(3) under the instruction of intelligent controller, photothermal laser repair head can be opened
Laser is used for large ship derusting work by exhibition.Since three-dimensional porous graphene Composite sucker formula imitates gecko foot type multi-purpose machine
People has multi-functional tail, can according to detection, maintenance and repair wall surface work function need and repair procedure or progress come
Replacement use is carried out, that is, passes through the interface of multi-functional tail, replacement or selection have the tail of different function, can be realized and climb
Row, detection, maintenance and the multi-functional target for repairing wall surface.
Three-dimensional porous graphene Composite sucker formula of the invention, which imitates gecko foot type multi-function robot, to be had below beneficial to effect
Fruit:
(1) the three-dimensional porous graphene Composite sucker formula of the present invention imitates gecko foot type multi-function robot, in three-dimensional porous stone
Black alkene Composite sucker formula imitates gecko vola and three-dimensional porous graphene Composite sucker formula is imitated in gecko toes, uses three-dimensional porous
Graphene Composite sucker, including mainly use: three-dimensional porous graphene, receive micron film, receive micro fibre material array, vacuum chamber
And pressure sensor, and with joint driver combined structure；Utilize three-dimensional porous graphene and Nano/micro tube film combinations knot
Structure more hollow structures and has certain elasticity since three-dimensional porous graphene has, and receive micron film can either reinforce it is three-dimensional porous
Graphene can receive micro fibre material battle array to the leakproofness of gas convenient for have a huge surface area in the assembling of its surface-stable
Column still have when can be directed to different conditions wall surface and implement preferable closing to vacuum chamber, it is ensured that at during grabbing wall
In stable negative pressure state, there is certain elasticity and contraction to press performance, it may have what huge surface area generated grabs wall viscosity,
Therefore it improves and grabs wall integrity energy；Under the instruction of intelligent controller, driven using pressure sensor, angular transducer and joint
Dynamic device combines, and three-dimensional porous graphene Composite sucker formula can be adjusted according to different performance wall surface and imitates gecko vola and three-dimensional
Porous graphene Composite sucker formula imitates grabbing wall angle or grabbing wall dynamics for gecko toes, makes to grab wall and is in best movement posture；By
Micro fibre material array is received with huge surface area in use, can also cooperate with three-dimensional porous graphene, micron film of receiving
And vacuum chamber, realization, which overcomes to adsorb to catch wall surface not firm and be actively desorbed existing for traditional climbing robot, leaves wall table
The not quick problem in face makes its wall ability of climbing under the conditions of hydraulically rough surface or wall surface micro chink effectively improve.
(2) the three-dimensional porous graphene Composite sucker formula of the present invention imitates gecko foot type multi-function robot, the laser light of use
Hot obturator includes: fibre-optic bundle, photothermal laser repair head；The fibre-optic bundle and photothermal laser repair head
It is assemblied in multi-functional tail.Photothermal laser repair head has multi-functional repair: a, to preparatory Transducers Embedded in Concrete wall
The microcapsules of receiving in face carry out laser heating, release renovation agent after the heated outer casing rupture of microcapsules of receiving and stitch production to concrete wall facial cleft
Raw repairing effect；B, laser heating is carried out to the marmem of preparatory Transducers Embedded in Concrete wall surface, marmem occurs
The thermal deformation of Memorability generates the effect for repairing wall surface distress in concrete；C, carry out and laser is used for large ship derusting work.
It can be carried out according to detection, the function needs of maintenance and reparation wall surface work and repair procedure or progress using multi-functional tail
Replacement uses, that is, passes through the interface of multi-functional tail, and replacement or selection have the tail of different function, can be realized and creep, examine
It surveys, the multi-functional target of maintenance and reparation wall surface.
(3) the three-dimensional porous graphene Composite sucker formula of the present invention imitates gecko foot type multi-function robot, using photothermal laser
Thermoelectric generator；Laser irradiation photo-thermal energy is transferred to the phase-change thermal storage in photothermal laser thermoelectric generator by laser pickoff
Device；Phase-change heat storage device is connected with the hot end of hot thermoelectric generator；Since the hot end of hot thermoelectric generator and cold-end temperature difference generate
Generate electricity effect, and power generation electric energy is transferred to battery.Therefore, it can be realized three-dimensional porous graphene Composite sucker formula and imitate gecko
The electric energy that sufficient type multi-function robot proceeds without cable during climbing wall work supplements in real time.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is that a kind of structure of the imitative gecko foot type multi-function robot of three-dimensional porous graphene Composite sucker formula of the present invention is shown
It is intended to；
Fig. 2 is the structural schematic diagram that a kind of three-dimensional porous graphene Composite sucker formula of the present invention imitates gecko toes.
In figure, the three-dimensional porous graphene Composite sucker formula of 1- imitates gecko foot type multi-function robot；The three-dimensional porous graphite of 2-
Alkene Composite sucker formula imitates gecko toes；The three-dimensional porous graphene Composite sucker formula of 3- imitates gecko foot；4- laser thermoelectric converter；5-
Multi-functional tail；6- body；The head 7-；The three-dimensional porous graphene Composite sucker formula of 8- imitates gecko vola；The three-dimensional porous graphite of 9-
Alkene Composite sucker；10- podarthrum driver；The three-dimensional porous graphene of 11-；12- carbon nano-tube film；13- carbon nano pipe array；
14- vacuum chamber；15- hollow piston sealing block；16- hollow piston rod；17- eye bolt；18- spring；19- lower cover；20-
Upper end cover；21- nipple；The corrugated conduit of 22-；23- long connecting tube；24- pressure sensor；25- toes joint driver；
26- thigh；27- leg joint driver；28- vacuum pump and mechanism；29- battery；30- intelligent controller；31- laser light hot repair
Multiple work head；32- angular transducer；33- locator；34- communication device；35- wind sensor；36- neck joint driver；
37- neck；38- neck joint driver；Joint driver in the middle part of 39- tail；40- spinal joint driver.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail
A specific embodiment of the invention.
Embodiment:
The structure that the three-dimensional porous graphene Composite sucker formula of the embodiment of the present invention imitates gecko foot type multi-function robot 1 is shown
Intention is shown in Fig. 1；The structural schematic diagram that three-dimensional porous graphene Composite sucker formula imitates gecko toes 2 is shown in Fig. 2.
The three-dimensional porous graphene Composite sucker formula of the embodiment of the present invention imitates gecko foot type multi-function robot 1 (see Fig. 1),
It include: that four three-dimensional porous graphene Composite sucker formulas imitate gecko foot 3,4, four thighs 26 of laser thermoelectric converter, laser heat
Electric transducer 4, multi-functional tails 5, body 6, neck 37, head 7, an intelligent controllers 30；Leg joint is assembled on thigh 26
Driver 27, it includes: that three-dimensional porous graphene Composite sucker formula imitates gecko that three-dimensional porous graphene Composite sucker formula, which imitates gecko foot 3,
8,5 three-dimensional porous graphene Composite sucker formulas of vola imitate gecko toes 2 (see Fig. 2), five toes joint driver 25, four
Podarthrum driver 10；It includes that three-dimensional porous graphene is multiple that three-dimensional porous graphene Composite sucker formula, which imitates gecko vola 8 (see Fig. 1),
Close sucker 9 and angular transducer 32；Three-dimensional porous graphene Composite sucker 9 is assemblied in 8 middle part of vola；Angular transducer 32 assembles
In vola 8；Five three-dimensional porous graphene Composite sucker formulas imitate gecko toes 2 and pass through toes joint driver 25 and three respectively
Dimension porous graphene Composite sucker formula imitates gecko vola 8 and is connected；It is logical that three-dimensional porous graphene Composite sucker formula imitates gecko vola 8
Podarthrum driver 10 is crossed to be connected with one end of thigh 26；The other end of thigh 26 passes through leg joint driver 27 and body 6
It is connected.
Three-dimensional porous graphene Composite sucker 9 (see Fig. 2), comprising: three-dimensional porous graphene 11, carbon nano-tube film 12,
Carbon nano pipe array 13, vacuum chamber 14, hollow piston sealing block 15, hollow piston rod 16, eye bolt 17, spring 18, under
End cap 19, upper end cover 20, nipple 21, corrugated conduit 22, long connecting tube 23；The lower end of three-dimensional porous graphene 11 connects
Carbon nano-tube film 12；The lower end connecting carbon nanotube array 13 of carbon nano-tube film 12；The upper end of three-dimensional porous graphene 11
It is connected with vacuum chamber 14；The upper end or 14 side outside of vacuum chamber of three-dimensional porous graphene 11 are equipped with pressure sensor 24；Very
The upper end of cavity 14 is connected with hollow piston sealing block 15；It is lower cover 19 outside hollow piston sealing block 15；Piston
There is venthole in the middle part of formula sealing block 15, the upper end is connected with one end of hollow piston rod 16；It is assembled on the outside of hollow piston rod 16
There is spring 18；The other end of hollow piston rod 16 is connected with one end of eye bolt 17；The other end of eye bolt 17 with it is short
One end of connecting tube 21 is connected；The other end of nipple 21 is connected with one end of corrugated conduit 22；It is corrugated to lead
The outside of pipe 22 is upper end cover 21；The other end of corrugated conduit 22 is connected with one end of long connecting tube 23；Long connecting tube 23
The other end be connected with toes joint driver 25.
The three-dimensional porous graphene 11 of the present embodiment uses three-dimensional porous graphene sponge.
Head 7 is equipped with wind sensor 35, locator 33, communication device 34；Communication device 34 connects including data information
Receipts and transmitter；Locator 33 selects Beidou locator or GPS locator.
Neck joint driver 36 and neck joint driver 38 are assembled on neck 37, one end of neck 37 passes through neck joint drive
Device 36 is connected with head 7；The other end of neck 37 is connected by neck joint driver 38 with body 6.
Spinal joint driver 40 is equipped on multi-functional tail 5, the middle part of multi-functional tail 5 is equipped in the middle part of tail and closes
Save driver 39；Multi-functional tail 5 is connected by spinal joint driver 40 with body 6；Multi-functional tail 5 not only have make
Three-dimensional porous graphene Composite sucker formula imitates equilibrium function of the gecko foot type multi-function robot 1 when wall surface is creeped, additionally it is possible to
The function needs for repairing wall surface work and repair procedure or progress are safeguarded according to detection to carry out replacement use, i.e., by multi-functional
The interface of tail, replacement or selection have the tail of different function.
Laser thermoelectric converter 4 includes: laser pickoff, photothermal laser obturator and photothermal laser thermoelectric generator；Swash
Optical receiver and photothermal laser thermoelectric generator are assemblied in body 6, laser pickoff respectively with photothermal laser obturator and swash
Light photo-thermal thermoelectric generator is connected；Photothermal laser thermoelectric generator includes: phase-change heat storage device, hot thermoelectric generator；Phase transformation storage
Hot device is mainly made of phase-change heat-storage material and Heat Conduction Material.
Photothermal laser obturator includes: fibre-optic bundle, photothermal laser repair head 31；Fibre-optic bundle and laser light
Hot repair head 31 is assemblied in multi-functional tail 5, and one end of fibre-optic bundle is connected with laser pickoff, the other end with
Photothermal laser repair head 31 is connected；Laser is transferred to photothermal laser by fibre-optic bundle and repairs work by laser pickoff
Make first 31.
Vacuum pump and mechanism 28, battery 29 are equipped in body 6；Vacuum pump and mechanism 28 by connecting pipe respectively with
Three-dimensional porous graphene Composite sucker formula imitates gecko vola 8, three-dimensional porous graphene Composite sucker formula imitates gecko toes 2 and is connected
It connects；Battery 29 is connect with photothermal laser thermoelectric generator；Battery 29 is used to store the generation of photothermal laser thermoelectric generator
Electric energy；It is compound that intelligent controller 30 imitates gecko vola 8, three-dimensional porous graphene with three-dimensional porous graphene Composite sucker formula respectively
Sucked type imitates gecko toes 2, laser thermoelectric converter 4, pressure sensor 24, angular transducer 32, wind sensor 35, positioning
Device 33, communication device 34, vacuum pump and mechanism 28 are connected with battery 29.
Leg joint driver 27, toes joint driver 25, podarthrum driver 10, neck joint driver 36, neck joint
The joint drivers such as joint driver 39, spinal joint driver 40 are all made of motor and mechanical structure in the middle part of driver 38, tail
Part driver.
The three-dimensional porous graphene Composite sucker formula of the embodiment of the present invention imitates the course of work of gecko foot type multi-function robot
It is as follows:
Intelligent controller 30 instructs the imitative gecko foot type multi-function robot 1 of three-dimensional porous graphene Composite sucker formula to start standard
Standby work, leg joint driver 27, toes joint driver 25, podarthrum driver 10, neck joint driver 36, neck joint drive
The joint drivers such as joint driver 39, spinal joint driver 40 start to respectively drive three-dimensional porous in the middle part of dynamic device 38, tail
The imitative gecko foot 3 of graphene Composite sucker formula is begun preparing creeps along wall surface；Vacuum pump and mechanism 28 start operation.Intelligent controller
The 30 three-dimensional porous graphene Composite sucker formulas of instruction imitate gecko foot type multi-function robot 1 and start to climb wall, vacuum pump and mechanism 28
Enter corrugated conduit 22, nipple 21, eye bolt 17, hollow piston sealing by the controlled valve in long connecting tube 23
Block 15, hollow piston rod 16 take the air of vacuum chamber 14 away, and vacuum chamber 14 forms negative pressure；Due to suction function, sufficient inner ring
The spill swelled upwards is generated in the middle part of three-dimensional porous graphene sponge, the three-dimensional porous graphene sponge with action spot outer ring is pressed downward
It is tight and to middle shrinkage；Due to suction function, the three-dimensional porous graphene sponge of sufficient outer ring start under external pressure effect to
Lower compression compresses, and protrusion is pressed in wall surface and generates certain pressure and adhesive force, promotes three-dimensional porous graphene Composite sucker formula imitative
Gecko vola 8 and three-dimensional porous graphene Composite sucker formula imitate the realization of 2 coordinated of gecko toes and grab wall-like state；Three-dimensional porous
Graphene Composite sucker formula imitates gecko vola 8 and three-dimensional porous graphene Composite sucker formula imitates the pressure assembled in gecko toes 2
Three-dimensional porous graphene Composite sucker formula is imitated gecko vola 8 and three-dimensional porous graphene by sensor 24 or angular transducer 32
Grabbing wall angle or grabbing wall pressure force data information for the imitative each position of gecko toes 2 of Composite sucker formula is transferred to intelligent controller 30；Intelligence
Device 30 be can control by calculation process, issued and adjusted three-dimensional porous graphene Composite sucker formula and imitate gecko vola 8 and three-dimensional porous
Graphene Composite sucker formula imitates each position of gecko toes 2 and grabs wall angle or grab wall pressure instruction, makes to grab wall adhesive force in best
State；Podarthrum driver 10, toes joint driver 25, corrugated conduit 22, spring 18 synergistic effect under, can make
Three-dimensional porous graphene Composite sucker formula, which imitates gecko foot 3, can firmly catch the wall surface with different performance.Due to sufficiently sharp
With the composite structure of three-dimensional porous graphene 11, carbon nano-tube film 12 and carbon nano pipe array 13, three-dimensional porous graphene
11 have more hollow structures and have certain elasticity, and carbon nano-tube film 12 can either reinforce three-dimensional porous graphene 11 to gas
Leakproofness, and different shapes can be directed to convenient for having the carbon nano pipe array 13 of huge surface area in its surface-assembled
Still have when state wall surface and vacuum chamber 14 is implemented preferably to close, it is ensured that stable negative pressure state is in during grabbing wall,
Press performance with certain elasticity and contraction, it may have what huge surface area generated grabs wall viscosity, therefore improves that grab wall whole
Body performance and effect；Carbon nano pipe array below 11 surface of three-dimensional porous graphene of sufficient outer ring and carbon nano-tube film 12
13 since surface area is huge, can be in close contact with wall surface or hydraulically rough surface or wall surface micro chink, due to carbon nano pipe array 13
With viscous force effect, collaboration can be generated and grab wall effect, generate the active force that wall surface is caught in superposition.
Under the regulation of intelligent controller 30, due to being received with three-dimensional porous graphene 11 with carbon using vacuum pump and mechanism 28
Carbon nano pipe array 13 below mitron film 12 combines, and also closes with leg joint driver 27, toes joint driver 25, foot
Save driver 10, neck joint driver 36, neck joint driver 38, tail middle part joint driver 39, spinal joint driver
40, corrugated conduit 22 and spring 18 combine, and three-dimensional porous graphene Composite sucker formula imitates gecko foot type multi-function robot 1
It can be realized to overcome to adsorb to catch wall surface not firm and be actively desorbed existing for traditional climbing robot and leave wall surface not
Quick problem makes its wall ability of climbing under the conditions of hydraulically rough surface or wall surface micro chink effectively improve.
Three-dimensional porous graphene Composite sucker formula imitates the laser thermoelectric converter 4 that gecko foot type multi-function robot 1 uses
It include: laser pickoff, photothermal laser obturator and photothermal laser thermoelectric generator；Due to laser pickoff respectively with laser light
Hot obturator is connected with photothermal laser thermoelectric generator；Laser irradiation photo-thermal energy is transferred to photothermal laser by laser pickoff
Phase-change heat storage device in thermoelectric generator；Phase-change heat storage device is connected with the hot end of hot thermoelectric generator；Due to hot thermo-electric generation
The hot end of device and cold-end temperature difference generate power generation effect, and power generation electric energy is transferred to battery 29.Therefore, it is more to can be realized three-dimensional
The electric energy that graphene Composite sucker formula imitative gecko foot type multi-function robot 1 in hole proceeds without cable during climbing wall work is real-time
Supplement.
Laser pickoff is combined mode with fibre-optic bundle and photothermal laser repair head by photothermal laser obturator,
Fibre-optic bundle and photothermal laser repair head 31 are assembled in multi-functional tail 5, one end of fibre-optic bundle and swashed
Optical receiver is connected, and the other end is connected with photothermal laser repair head 31, and has multi-functional repair: (1) existing
Under the instruction of intelligent controller 30, photothermal laser repair head 31 is inserted into wall surface distress in concrete, to preparatory embedment wall surface
The microcapsules of receiving of concrete carry out laser heating；Renovation agent is filled in microcapsules due to receiving, and is received under photothermal laser effect micro-
Capsule temperature increases, and releases renovation agent after the heated outer casing rupture of microcapsules of receiving and stitches generation repairing effect to concrete wall facial cleft；
(2) under the instruction of intelligent controller 30, photothermal laser repair head 31 be can be inserted in distress in concrete, to preparatory embedment
The marmem of wall surface concrete carries out laser heating, and the temperature of marmem quickly increases, marmem
The thermal deformation of Memorability occurs, generates the effect for repairing wall surface distress in concrete；(3) under the instruction of intelligent controller 30, swash
Light photo-thermal repair head 31, which can be carried out, is used for large ship derusting work for laser.Due to the compound suction of three-dimensional porous graphene
Disc type, which imitates gecko foot type multi-function robot 1, has multi-functional tail 5, according to detection, maintenance and can repair wall surface work
Function needs and repair procedure or progress carry out replacement use, that is, passes through the interface of multi-functional tail 5, replacement or selection have
The tail of different function can be realized the multi-functional target for creeping, detect, safeguarding and repairing wall surface.
Herein, the nouns of locality such as related front, rear, top, and bottom are to be located in figure with components in attached drawing and zero
Part mutual position defines, only for the purpose of expressing the technical solution clearly and conveniently.It should be appreciated that the noun of locality
Use should not limit the claimed range of the application.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (10)
1. a kind of three-dimensional porous graphene Composite sucker formula imitates gecko foot type multi-function robot characterized by comprising three-dimensional
Porous graphene Composite sucker formula imitates gecko foot, laser thermoelectric converter, thigh, multi-functional tail, body, neck, head, intelligence
It can control device；It includes: that three-dimensional porous graphene Composite sucker formula is imitative that the three-dimensional porous graphene Composite sucker formula imitates gecko enough
Gecko vola, three-dimensional porous graphene Composite sucker formula imitate gecko toes；The three-dimensional porous graphene Composite sucker formula imitates wall
Brave vola includes: three-dimensional porous graphene Composite sucker；The three-dimensional porous graphene Composite sucker includes: three-dimensional porous graphite
Alkene receives micro fibre material array, vacuum chamber；The micro fibre material array of receiving is connected to the lower section of three-dimensional porous graphene；Institute
State the upper end that vacuum chamber is connected to three-dimensional porous graphene；The intelligent controller controls three-dimensional porous graphene Composite sucker formula
Imitative gecko foot type multi-function robot carries out climbing wall；After air in the vacuum chamber is pumped, the three-dimensional porous graphene
It is pressed on wall surface under external pressure effect, three-dimensional porous graphene Composite sucker formula is made to imitate gecko vola and three-dimensional porous graphite
Alkene Composite sucker formula imitates the realization of gecko toes coordinated and grabs wall；The micro fibre material array of receiving can be generated with viscous force
Wall effect is grabbed in collaboration；The multi-functional tail, thigh, neck are connect with body, and the head is connected to the top of neck, institute
The imitative gecko of three-dimensional porous graphene Composite sucker formula is stated to connect with thigh enough；The intelligent controller is assemblied in body；It is described
Laser thermoelectric converter includes laser pickoff, photothermal laser obturator, photothermal laser thermoelectric generator；The laser pickoff
It is assemblied in body with photothermal laser thermoelectric generator, the photothermal laser obturator is assemblied in multi-functional tail；It is described to swash
Optical receiver is connect with photothermal laser obturator and photothermal laser thermoelectric generator respectively；The laser pickoff receives laser simultaneously
Laser is transferred to photothermal laser obturator and photothermal laser thermoelectric generator respectively, the photothermal laser obturator utilizes laser
It realizes repairing concrete crack or carries out ship derusting；The photothermal laser thermoelectric generator is produced electricl energy using laser to three-dimensional
Porous graphene Composite sucker formula imitates the power supply of gecko foot type multi-function robot.
2. three-dimensional porous graphene Composite sucker formula according to claim 1 imitates gecko foot type multi-function robot, special
Sign is that the thigh, three-dimensional porous graphene Composite sucker formula are imitated the sufficient and three-dimensional porous graphene Composite sucker formula of gecko and imitated
The quantity of gecko toes is not less than three；It further includes podarthrum driving that the three-dimensional porous graphene Composite sucker formula imitates gecko enough
Device and toes joint driver；The imitative gecko vola of the three-dimensional porous graphene Composite sucker formula is by podarthrum driver and greatly
One end of leg connects；It is more by toes joint driver and three-dimensional that the three-dimensional porous graphene Composite sucker formula imitates gecko toes
Hole graphene Composite sucker formula imitates the connection of gecko vola；Leg joint driver is assembled on the thigh；The other end of the thigh
It is connect by leg joint driver with body；Neck joint driver and neck joint driver, the neck are assembled on the neck
One end connect with head by neck joint driver；The other end of the neck is connect by neck joint driver with body；
Spinal joint driver is assembled on the multi-functional tail；The multi-functional tail is connected by spinal joint driver and body
It connects.
3. three-dimensional porous graphene Composite sucker formula according to claim 2 imitates gecko foot type multi-function robot, special
Sign is, the three-dimensional porous graphene Composite sucker further includes receiving micron film, hollow piston sealing block, hollow piston
Bar, eye bolt, spring, lower cover, upper end cover, nipple, corrugated conduit, long connecting tube；The three-dimensional porous graphite
Micron film is received in the lower end connection of alkene；Micro fibre material array is received in the lower end connection for receiving micron film；It is described three-dimensional porous
Outside is equipped with pressure sensor by the upper end of graphene or vacuum chamber；The upper end of the vacuum chamber and hollow piston sealing block
It is connected；The outside of the hollow piston sealing block is lower cover；There are venthole, the upper end in the middle part of the piston type sealing block
It is connected with one end of hollow piston rod；Spring is equipped on the outside of the hollow piston rod；The hollow piston rod it is another
End is connected with one end of eye bolt；The other end of the eye bolt is connected with one end of nipple；The short company
The other end of adapter tube is connected with one end of corrugated conduit；The outside of the corrugated conduit is upper end cover；The ripple
The other end of shape conduit is connected with one end of long connecting tube；The other end of the long connecting tube is connected with toes joint driver
It connects.
4. three-dimensional porous graphene Composite sucker formula according to claim 1 imitates gecko foot type multi-function robot, special
Sign is, the three-dimensional porous graphene includes: three-dimensional porous graphene sponge, three-dimensional porous grapheme foam, three-dimensional porous
Graphene aerogel, three-dimensional porous graphene hydrogel, three-dimensional porous graphene composite material, three-dimensional porous graphene oxide material
Material or three-dimensional porous graphene oxide composite material；The three-dimensional porous graphene composite material includes: three-dimensional porous graphene
Sponge composite material, three-dimensional porous graphene aerogel composite material, three-dimensional porous grapheme foam composite material or three-dimensional more
Hole graphene hydrogel composite material.
5. three-dimensional porous graphene Composite sucker formula according to claim 1 imitates gecko foot type multi-function robot, special
Sign is that the photothermal laser thermoelectric generator includes: phase-change heat storage device, hot thermoelectric generator；The phase-change heat storage device is by phase
Change heat storage material and Heat Conduction Material are constituted；Laser irradiation photo-thermal energy is transferred to phase-change heat storage device by the laser pickoff；Institute
Phase-change heat storage device is stated to be connected with the hot end of hot thermoelectric generator；The hot end of the hot thermoelectric generator and cold end generate the temperature difference into
And generate power generation effect.
6. three-dimensional porous graphene Composite sucker formula according to claim 1 imitates gecko foot type multi-function robot, special
Sign is that the photothermal laser obturator includes: fibre-optic bundle, photothermal laser repair head；The fibre-optic bundle with
Photothermal laser repair head is assemblied in multi-functional tail, and one end of the fibre-optic bundle is connected with laser pickoff,
The other end is connected with photothermal laser repair head；Laser is transferred to laser by fibre-optic bundle by the laser pickoff
Photo-thermal repair head；The course of work of the photothermal laser repair head include: under the instruction of intelligent controller, it is described
Photothermal laser repair head is inserted into wall surface distress in concrete, carries out laser to the microcapsules of receiving of preparatory embedment wall surface concrete
Heating is filled with renovation agent in microcapsules due to receiving, and microcapsules temperature of receiving under photothermal laser effect increases, and microcapsules of receiving are heated
Renovation agent is released after outer casing rupture to repair concrete wall facial cleft seam；Under the instruction of intelligent controller, the laser
Photo-thermal repair head is inserted into distress in concrete, is carried out laser to the marmem of preparatory embedment wall surface concrete and is added
The temperature of heat, marmem quickly increases, and the thermal deformation of Memorability occurs for marmem, to wall surface distress in concrete
It is repaired；Under the instruction of intelligent controller, laser is used for large ship derusting work by the photothermal laser repair head
Make.
7. three-dimensional porous graphene Composite sucker formula according to claim 2 imitates gecko foot type multi-function robot, special
Sign is, vacuum pump and mechanism, battery are also equipped in the body；The vacuum pump and mechanism respectively with three-dimensional porous stone
Black alkene Composite sucker formula imitates gecko vola, three-dimensional porous graphene Composite sucker formula imitates gecko toes and is connected；The battery
It is connect with photothermal laser thermoelectric generator；The battery is used to store the electric energy of photothermal laser thermoelectric generator generation；It is described
Head is equipped with sensor, locator, communication device；The communication device includes: data information reception and transmitter；The intelligence
It can control device and imitate the imitative wall of gecko vola, three-dimensional porous graphene Composite sucker formula with three-dimensional porous graphene Composite sucker formula respectively
Brave toes, laser thermoelectric converter, sensor, locator, communication device, vacuum pump and mechanism are connected with battery；It is described
Joint driver in the middle part of tail is equipped in the middle part of multi-functional tail；The quantity of the multi-functional tail is not less than one.
8. three-dimensional porous graphene Composite sucker formula according to claim 7 imitates gecko foot type multi-function robot, special
Sign is that the leg joint driver, toes joint driver, podarthrum driver, neck joint driver, neck joint drive
Joint driver, spinal joint driver select motor and mechanical component driver, hydraulic and member drives in the middle part of device, tail
Device, pneumatic device and member driver, functional material driver, electromagnetic force and device driver, electrostatic force and device driver,
Any one of magnetic suspension force and member driver.
9. three-dimensional porous graphene Composite sucker formula according to claim 1 imitates gecko foot type multi-function robot, special
Sign is, the micro fibre material array of receiving includes: that carbon nano pipe array, silicon rubber receive micro fibre material array, polyurethane
It receives micro fibre material array, polyester resin and receives micro fibre material array, polyimides and receive micro fibre material array, artificial rubber and receive
Micro fibre material array, epoxy resin receive micro fibre material array, dimethyl silicone polymer and receive micro fibre material array, polyurethane
Micro fibre material array, poly- methacrylate formicester, which are received, with terephthaldehyde's acetoacetic ester receives micro fibre material array, poly dimethyl silicon
Alkane receives micro fibre material array；The carbon nano pipe array is made of chemical vapour deposition technique, comprising: TCD thermochemical deposition method,
Gas ions enhance chemical deposition, floating catalytic chemical vapour deposition technique.
10. three-dimensional porous graphene Composite sucker formula according to claim 7 imitates gecko foot type multi-function robot, special
Sign is, it is described receive micron film include: carbon nano-tube film, graphene film, to receive a micron inorganic thin film, micron of receiving organic thin
Film, nano-micron compound material film；The sensor includes: pressure sensor, temperature sensor, angular transducer, humidity biography
Sensor, wind sensor.
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