CN112572628B - Bionic multi-mode crawling, rolling, attaching and bouncing robot coping with complex environment - Google Patents
Bionic multi-mode crawling, rolling, attaching and bouncing robot coping with complex environment Download PDFInfo
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- CN112572628B CN112572628B CN202011524973.7A CN202011524973A CN112572628B CN 112572628 B CN112572628 B CN 112572628B CN 202011524973 A CN202011524973 A CN 202011524973A CN 112572628 B CN112572628 B CN 112572628B
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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
Abstract
A bionic multi-mode crawling, rolling, adhering and bouncing robot for coping with complex environments comprises a robot main body, wherein a detection device and a control system are mounted in the robot main body, and a robot walking part is mounted on the robot main body; the robot walking part comprises a plurality of robot legs in even number, and two symmetrical wheels are folded in a yielding way; the tail end of each robot leg is provided with a composite bionic robot foot, the composite bionic robot foot comprises a rotary switching palm body, and the palm body is provided with a gecko-like toe viscous material thin plate, a longicorn-like toe barbed palm part and a trefoil-like suction cup; the robot main body is also provided with a robot bouncing part, and the robot bouncing part comprises a bouncing mechanism imitating springworms and gall midge larvae; the control system regulates and controls the coordination of all the parts. The bionic multi-mode attached moving bouncing robot has strong adaptability to various wall surfaces and road surfaces, and can be competent for investigation and patrol work in complex environments of borders.
Description
Technical Field
The invention relates to a bionic robot, in particular to a bionic multi-mode crawling, rolling, adhering and bouncing robot for coping with a complex environment, and belongs to the field of mechanical automation engineering.
Background
With the severe international situation and the severe security and protection tasks of the border of the country, the investigation and patrol of the border can be undertaken by the robot along with the development of the robot. However, in China, many border terrains are complex, roads are not available, mountain roads are rugged, conventional wheeled vehicles or robots cannot move forward and enter, a machine capable of adapting to various road conditions is urgently needed for border investigation, and the robots carry investigation equipment, must adapt to different rugged grounds, and climb over when encountering obstacles with a certain height.
At present, some known bionic robots can only climb on rugged horizontal roads, do not have adhesion structures, and cannot climb over the wall. The existing wall climbing robot can only execute a wall climbing task and cannot walk on mountains, and the adsorption and adhesion part is realized based on the traditional methods such as vacuum adsorption, permanent magnet and electromagnetic adsorption, electrostatic adsorption and the like, so that the robot is difficult to use in the complex environment.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the bionic multi-mode crawling, rolling, adhering and bouncing robot for coping with the complex environment.
The technical scheme adopted by the invention for solving the technical problems is as follows: the detection system comprises a robot main body, wherein a detection device and a control system are mounted in the robot main body, and a robot walking part is mounted on the robot main body; the robot walking part comprises a plurality of robot legs which are arranged symmetrically on the periphery of the robot main body, all the robot legs are divided into two groups, and the two groups of robot legs are folded into two symmetrical wheels in a yielding way, and the two wheels are connected on the same shaft and driven by a motor and a gear; the tail end of each robot leg is provided with a composite bionic robot foot, the composite bionic robot foot comprises a rotary switching palm body, and the palm body is provided with a gecko-like toe viscous material thin plate, a longicorn-like toe barbed palm part and a trefoil-like suction cup; the robot main body is also provided with a robot bouncing part, and the robot bouncing part comprises a bouncing mechanism imitating springworms and gall midge larvae; the control system regulates and controls the coordination of all the parts.
Compared with the prior art, the bionic multi-mode crawling, rolling, adhering and bouncing robot for coping with complex environments disclosed by the invention integrates a robot walking part with a composite bionic robot foot and capable of being folded into wheels in a yielding manner and a robot bouncing part comprising a springing mechanism simulating springworms and gall midge larvae, realizes a multi-motion mode of crawling, adhering, rolling and bouncing by regulating and controlling a control system, and is particularly designed by acquiring inspiration in the biological world, so that adhering, crawling, adhering to wall surfaces, rolling and bouncing performances are excellent. The robot walking part can be folded into two symmetrical wheels in a yielding way, so that the rolling function of the robot can be realized, and the robot walking part is suitable for both a smooth road surface and a slightly uneven road surface and can also adapt to a rough road surface; the foot of the composite bionic robot forming the robot walking part is provided with a gecko-like toe viscous material thin plate, a crow-like toe barbed palm part and a trekko-like violin-shaped sucker, the crow-like toe barbed palm part assists the robot to crawl on a rough wall surface and is also used for the robot to crawl on a dry wall surface, and the gecko-like toe viscous material thin plate and the trekko-like violin-shaped sucker assist the robot to crawl on a smooth and wet wall surface; the robot bouncing component is provided with a bouncing mechanism imitating springworms and gall midge larvae to assist the robot to cross gullies; in conclusion, the robot of the invention can complete detection operation in various complex environments with flat ground, rugged mountain land, obstacle road, steep wall surface, rough or smooth wall surface and the superposition of the above conditions.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a crawling state diagram of a robot according to an embodiment of the present invention.
Fig. 2 is a front view of fig. 1.
Fig. 3 is a diagram of a robot scroll state according to an embodiment of the present invention.
Fig. 4 is a front view of fig. 3.
Fig. 5 is a schematic structural diagram of a robot leg in one embodiment of the invention.
Fig. 6 is a schematic structural diagram of a composite bionic robot foot in one embodiment of the invention.
FIG. 7a is a schematic diagram of the construction of the thin sheet of gecko-like toe adhesive material of FIG. 6.
Fig. 7b is a partial enlarged view at a in fig. 7 a.
Fig. 7c is a side view of fig. 7 a.
Fig. 8 is a schematic structural diagram of the violin-shaped suction cup of the imitative loach in fig. 6.
Fig. 9a is a schematic structural view of the crow of the simulated longicorn toes in fig. 6.
FIG. 9b is a schematic structural diagram of the artificial longicorn barb of FIG. 9 a.
Fig. 10 is a schematic structural diagram of a robot bouncing component in one embodiment of the invention.
In the figure, 1, a robot main body, 2, robot legs, 21, wheels, 22, a first leg motor, 23, a connecting rod, 24, a second leg motor, 25, a motor connecting frame, 26, a third leg motor, 27, a leg supporting frame, 3, a robot foot, 31, a foot motor, 32, a palm body, 33, a gecko-like toe adhesive material thin plate, 331, an inclined cylinder bristle array, 34, a rock-like mike violin-shaped sucker, 35, a cow toe hooking palm portion, 351, a cow hooking, 4, a robot bouncing part, 41, a bouncing part motor, 42, a bouncing part gear box, 43 and a bouncing compression part.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, belong to the scope of the present invention.
Fig. 1 to 10 show schematic structural diagrams of a preferred embodiment of the present invention, and the bionic multi-mode crawling, rolling, attaching and bouncing robot in fig. 1 for complex environments includes a robot main body 1, wherein a detection device and a control system are mounted in the robot main body 1, and the detection device is used for detecting severe environments.
Wherein, the robot main body 1 is provided with a robot walking part; the robot walking part comprises a plurality of robot leg parts 2, so that stable robot leg stretching and crawling can be realized, and the reliability is enhanced. Referring to fig. 3 and 4, a plurality of robot legs 2 are symmetrically arranged on the periphery of a robot main body 1, all the robot legs 2 are divided into two groups, and are folded into two symmetrical wheels 21 in a yielding manner, and the two wheels 21 are connected on the same shaft and driven by a motor and a gear; therefore, the robot realizes the rolling of the robot by yielding the own legs, can realize the rolling on a flat road surface by utilizing the rollers, can also realize the rolling on a slightly uneven road surface, and can adapt to the uneven road surface. As a preferable scheme, referring to fig. 1, the number of the robot legs 2 is six, the six robot legs 2 are connected to the robot main body 1 through leg motors, and the robot legs 2 are unfolded to crawl on uneven road surfaces by using six feet, so that the robot is suitable for complicated uneven road surfaces. More specifically, referring to fig. 5, the robot leg 2 is composed of three motors and two links, and the three motors control the two links to have three degrees of freedom, so that the robot can crawl transversely and longitudinally. In the embodiment of the present invention, the two-link implementation structure is embodied as a connecting rod 23 and a leg support 27, the three motors are a first leg motor 22, a second leg motor 24 and a third leg motor 26, respectively, and the robot leg 2 can implement the crawling and climbing motions of the robot under the serial connection of the connecting rod 23, the first leg motor 22, the second leg motor 24, the motor connecting frame 25, the third leg motor 26 and the leg support 27.
In the embodiment of the present invention, the end of each robot leg 2 is provided with a composite bionic robot foot 3, referring to fig. 6, the composite bionic robot foot 3 includes a rotation-switching palm body 32, the palm body 32 is provided with a thin plate 33 made of gecko-like toe adhesive material, a palm portion 35 made of artificial cow toe hook thorn and a viola-like sucker 34 made of artificial marble, and specifically, the rotation of the palm body 32 can be realized by means of a foot motor 31, so as to realize the purpose of switching the thin plate 33 made of artificial gecko-like toe adhesive material, the palm portion 35 made of artificial cow toe hook thorn and the viola-like sucker 34 made of artificial marble. The effect of the bionic celestial cow toe barbed palm part 35 is that the robot can be well attached to a rough wall surface, and when the bionic robot meets the rough wall surface, the wall-climbing robot can be well attached to the wall surface to climb; the thin plate 33 made of the gecko-imitated toe sticky material and the viola-imitated sucker 34 have good stickiness on the smooth wall surface, so that the robot can stick and crawl on the smooth wall surface; therefore, the foot 3 of the compound bionic robot can adapt to various environments and crawl on rough and smooth walls.
In the embodiment of the invention, referring to fig. 2 and fig. 10, a robot bouncing part 4 is further arranged on the robot body 1, the robot bouncing part 4 comprises bouncing mechanisms simulating springworms and gall midge larvae, the bouncing mechanisms simulating springworms and gall midge larvae are consistent with the structure of the bouncing mechanism in the previous invention application (a bionic bouncing robot with multiple motion modes and adjustable tracks) of the applicant, the bouncing mechanisms simulating springworms and gall midge larvae with bionic structures are designed by taking the two different bouncing characteristics of the springworms and the gall midge larvae as reference, and then the two bionic structures are fused to form a novel bouncing mechanism similar to a six-bar mechanism, so that the high-performance bouncing mechanism is obtained and is mainly formed by sequentially connecting a bouncing part motor 41, a bouncing part gear box 42 and a bouncing compression part 43. Further, at least one robot bouncing component 4 is arranged at the center of the bottom of the robot main body 1, and the robot bouncing component 4 can realize bouncing at different angles in the adjusting direction under the driving of the bouncing component motor 41.
In addition, in the embodiment of the invention, the control system regulates and controls the coordination action of each part, and can control the robot to crawl, climb, roll and bounce, specifically, the control system drives the robot walking part to move to realize the mountain movement of the robot; when climbing the wall, the composite bionic robot foot 3 provides the adhesion force of the whole robot; when jumping, the instantaneous explosive force provided by the jumping mechanism of the robot jumping component 4 can cross a gully; on a level or slightly bumpy road surface, the robot leg 2 can yield to the wheels 21 to roll.
In a preferred embodiment of the invention, the thin plate 33 made of the gecko-like toe viscous material and the viola-like sucker are arranged on the front surface of the palm body 32 of the composite bionic robot foot 3 to adapt to crawling on a smooth wall surface. The bionic celestial cow toe hooking and stabbing palm part 35 is arranged on the back of the palm body 32 of the composite bionic robot foot 3 to adapt to crawling on a rough wall surface. The front and back of the palm body 32 are switched by rotation of the foot motor 31.
In a preferred embodiment of the present invention, the thin sheet 33 of gecko-like toe adhesive material, described with reference to fig. 7a, 7b and 7c, is two sheets, the surface of which is provided with an inclined cylindrical bristle array 331, and the gecko-like adhesive bristle array is prepared by photolithography in view of the excellent adhesion of the gecko palm, and is preferably prepared with a diameter of 0.1mm and a pitch of 0.5 mm. And the viola-shaped sucking disc 34 of the imitative loach is arranged between the two thin plates 33 of the imitative gecko toe viscous material. Referring to fig. 8, in order to further enhance the adhesion performance, in view of the fact that the mudfish has good adhesion performance under water, the viola-like suction cup 34 is composed of two viola-like soft rubber suction cups which are installed on the palm body 32 at intervals, and is printed out by using a 3D printing technology and installed on the front surface of the palm body 32, so as to better provide adhesion on a smooth and wet wall surface when the robot crawls. Still further, the simulated longicorn toe barbed palm portion 35 described with reference to fig. 9a and 9b is composed of a plurality of simulated longicorn barbs 351 arrayed on the palm body 32.
The bionic multi-mode crawling rolling attachment bouncing robot for coping with complex environments absorbs the seta array of geckos, the bifurcation structure of the imitated longicorn bur 351, the adhesion performance of the imitated glochidia microstructure composite sucker and the imitated petrosella special violaceous-shaped sucker, designs the foot 3 of the composite bionic robot, designs the bouncing mechanisms of the imitated springworms and gall midge larvae by taking the bounce structure of the springworms and the gall midge larvae as a reference, is manufactured by adopting a micro-nano processing technology and a 3D printing technology, and can implement tasks such as detection and the like on complex wall surfaces and complex terrains.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiment according to the technical spirit of the present invention are included in the protection scope of the present invention.
Claims (8)
1. A bionic multi-mode crawling, rolling, adhering and bouncing robot for coping with complex environments comprises a robot main body (1), wherein a detection device and a control system are mounted in the robot main body (1), and a robot walking part is mounted on the robot main body (1); the method is characterized in that:
the robot walking part comprises a plurality of robot legs (2) which are arranged symmetrically on the periphery of the robot main body (1), all the robot legs (2) are divided into two groups, and are folded into two symmetrical wheels (21) in a yielding way, and the two wheels (21) are connected on the same shaft and driven by a motor and a gear;
the tail end of each robot leg (2) is provided with a composite bionic robot foot (3), the composite bionic robot foot (3) comprises a rotary switching palm body (32), and a gecko-like toe viscous material thin plate (33), a tencel-like toe hook-thorn palm part (35) and a trekko-like violin-shaped sucker (34) are arranged on the palm body (32);
the robot main body (1) is also provided with a robot bouncing part (4), and the robot bouncing part (4) comprises a bouncing mechanism imitating springworms and gall midge larvae;
the gecko-like toe viscous material thin plate (33) and the rock-like violin-shaped sucker (34) are arranged on the front face of the palm body (32) of the composite bionic robot foot (3);
the control system regulates and controls the coordination of all the parts.
2. The bionic multi-mode crawling, rolling, attaching and bouncing robot for complex environments as claimed in claim 1, wherein: the gecko-imitated toe viscous material thin plates (33) are two, the surfaces of the gecko-imitated toe viscous material thin plates are provided with inclined cylindrical bristle arrays (331), and the rock-imitated violin-shaped suction cups (34) are arranged between the two gecko-imitated toe viscous material thin plates (33).
3. The bionic multi-mode crawling, rolling, attaching and bouncing robot for complex environments as claimed in claim 2, wherein: the viola-shaped imitated loach sucking disc (34) is composed of two viola-shaped soft rubber sucking discs which are arranged on the palm body (32) at intervals.
4. The bionic multi-mode crawling, rolling, attaching and bouncing robot for complex environments as claimed in claim 1, wherein: the artificial longicorn toe barbed palm part (35) is arranged on the back of the palm body (32) of the composite bionic robot foot (3).
5. The bionic multi-mode crawling, rolling, attaching and bouncing robot for complex environments as claimed in claim 4, wherein: the simulated longicorn toe barbed palm part (35) is composed of a plurality of simulated longicorn barbed thorns (351) arrayed on a palm body (32).
6. The bionic multi-mode crawling, rolling, attaching and bouncing robot for complex environments as claimed in any one of claims 1 to 5, wherein: the leg (2) of the robot is composed of three motors and two connecting rods, the three motors control the two connecting rods to have three degrees of freedom, and transverse and longitudinal crawling of the robot is achieved.
7. The bionic multi-mode crawling, rolling, attaching and bouncing robot for complex environments as claimed in claim 6, wherein: the number of the robot legs (2) is six.
8. The bionic multi-mode crawling, rolling, attaching and bouncing robot for complex environments as claimed in any one of claims 1 to 5, wherein: the robot bouncing component (4) is at least one and is arranged at the center of the bottom of the robot main body (1).
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| CN202011524973.7A CN112572628B (en) | 2020-12-22 | 2020-12-22 | Bionic multi-mode crawling, rolling, attaching and bouncing robot coping with complex environment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113184075B (en) * | 2021-05-25 | 2022-08-26 | 重庆邮电大学 | Wind-resistant vibration-resistant climbing robot imitating exendin |
| CN114084244A (en) * | 2021-11-30 | 2022-02-25 | 上海交通大学 | Spider-imitating wheel-leg integrated robot |
| CN114083553B (en) * | 2022-01-06 | 2023-05-26 | 上海工程技术大学 | Polymorphic mobile robot |
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| CN106184452A (en) * | 2016-08-10 | 2016-12-07 | 西安交通大学 | A kind of all fours type electromagnetic adsorption climbing robot |
| CN107284543A (en) * | 2017-06-28 | 2017-10-24 | 青岛港湾职业技术学院 | A kind of compound motion mechanical ball |
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| CN111469946B (en) * | 2020-04-24 | 2021-09-14 | 上海宇航系统工程研究所 | Bionic mobile robot with crawling and rolling functions |
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| CN106184452A (en) * | 2016-08-10 | 2016-12-07 | 西安交通大学 | A kind of all fours type electromagnetic adsorption climbing robot |
| CN107284543A (en) * | 2017-06-28 | 2017-10-24 | 青岛港湾职业技术学院 | A kind of compound motion mechanical ball |
| CN109278886A (en) * | 2018-09-30 | 2019-01-29 | 北京航空航天大学 | A kind of four-part form omnidirectional, which creeps, rolls quadruped robot |
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