CN112758206A - Bionic four-footed wall-climbing robot based on link mechanism - Google Patents
Bionic four-footed wall-climbing robot based on link mechanism Download PDFInfo
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- CN112758206A CN112758206A CN202110187838.6A CN202110187838A CN112758206A CN 112758206 A CN112758206 A CN 112758206A CN 202110187838 A CN202110187838 A CN 202110187838A CN 112758206 A CN112758206 A CN 112758206A
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 25
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 62
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 230000009194 climbing Effects 0.000 claims abstract description 6
- 238000001179 sorption measurement Methods 0.000 claims description 17
- 210000001503 joint Anatomy 0.000 claims description 15
- 238000005452 bending Methods 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 7
- 239000004205 dimethyl polysiloxane Substances 0.000 claims description 3
- 229920000435 poly(dimethylsiloxane) Polymers 0.000 claims description 3
- -1 polydimethylsiloxane Polymers 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 15
- 230000005021 gait Effects 0.000 abstract description 3
- 210000002683 foot Anatomy 0.000 description 62
- 238000010586 diagram Methods 0.000 description 6
- 210000003371 toe Anatomy 0.000 description 6
- 238000010276 construction Methods 0.000 description 5
- 230000001429 stepping effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000003795 desorption Methods 0.000 description 1
- 210000004744 fore-foot Anatomy 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000002243 precursor Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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Classifications
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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
Abstract
The invention discloses a bionic four-foot wall climbing robot based on a connecting rod mechanism, which comprises a head, a front body, a power supply, a waist, a back body, a tail, a right front leg, a left front leg, a right back leg, a left back leg, a first steering engine, a second steering engine, a third steering engine, a fourth steering engine, a first foot, a second foot, a third foot and a fourth foot. The robot adopts the Chebyshev connecting rod as a leg mechanism, can simultaneously complete the up-and-down lifting and the front-and-back movement of the leg under a single driving force, can realize the diagonal gait of the movement of the robot by reversely installing the driving joints of the left front leg, the right front leg, the left back leg and the right back leg at 180 degrees, and only needs four steering engines for the whole robot, so the structure is simple, the transmission is ingenious, and the movement is reliable; the robot foot can simulate the unique mechanism of inversion and eversion of the gecko foot by means of a double-chip driver, and the fragile and fine bristle structure of the sole is protected from being damaged when being detached from a wall body to a great extent.
Description
Technical Field
The invention belongs to the technical field of bionic four-footed wall-climbing robots, and particularly relates to a bionic four-footed wall-climbing robot based on a connecting rod mechanism.
Background
The quadruped robot is in contact with the ground through the discrete points in the moving process, each supporting leg can realize discontinuous ground support, and the quadruped robot has high flexibility, strong obstacle-crossing capability and terrain adaptability, can freely move on a horizontal wall surface and even a ceiling and can deeply enter complex terrain environments such as cracks and ruins for operation, so the quadruped robot has wide application prospects in the aspects of military affairs, exploration, quality inspection, cleaning, transportation and the like.
At present, some common bionic four-footed wall-climbing robots are designed to simulate the motion actions of bionic objects such as lifting of legs and forward and backward movement of the bionic objects by more than four steering engines, so that the burden of robot load is increased, the control of the robot becomes very complicated, and the motion reliability of the robot is influenced.
Disclosure of Invention
The invention aims to provide a bionic four-footed wall-climbing robot based on a connecting rod mechanism, wherein a Chebyshev connecting rod is adopted as a leg structure of the robot, so that the robot can simultaneously complete two actions of lifting up and down and moving back and forth under the drive of a prime link, and the whole robot only needs four steering engines, so that the structure and the control of the robot are more simplified; the robot takes the gecko as a bionic object, and the feet adopt a double-wafer driver which can simulate the unique inversion and eversion mechanism of the gecko toes to protect the fine and fragile bristle adsorption structure of the soles of the robot from being damaged.
The invention provides a bionic four-foot wall climbing robot based on a connecting rod mechanism, which comprises a head, a front body, a power supply, a waist, a back body, a tail, a right front leg, a left front leg, a right back leg, a left back leg, a first steering engine, a second steering engine, a third steering engine, a fourth steering engine, a first foot, a second foot, a third foot and a fourth foot, wherein the front body is connected with the power supply;
the left front leg and the right front leg are connected with the front body through a first cantilever beam and a second cantilever beam, the left rear leg and the right rear leg are connected with the rear body through a third cantilever beam and a fourth cantilever beam, the front body and the rear body are connected with the waist through a spherical joint, the power supply is installed on the waist, the head and the tail are respectively installed on the front body and the rear body, the first foot is connected with the left front leg, the second foot is connected with the right front leg, the third foot is connected with the left rear leg, and the fourth foot is connected with the right rear leg;
the left front leg, the right front leg, the left rear leg and the right rear leg have the same structure, wherein the left front leg comprises a fifth driven joint, a first middle joint, a fifth middle joint, a first foot part, a ninth driven joint, a first transmission joint and a first driving joint; the first driven joint is connected with the fifth middle joint through a ninth driven joint; the first driving link is connected with the fifth intermediate link through a first transmission link; the fifth driven joint is connected with the connecting shafts of the first driven joint and the first transmission joint through a first middle joint; the fifth middle section is connected with the first foot part; the first driven joint and the fifth driven joint are connected with the front body through a first cantilever beam;
the joints of the right front leg, the left front leg, the right rear leg and the left rear leg are connected by revolute pairs and hinged.
Further, the bending direction of the left front leg and the left rear leg is opposite, and the bending direction of the right front leg and the right rear leg is opposite.
Furthermore, the difference of the installation angles of the leg original sections of the left front leg and the right front leg and the left rear leg and the right rear leg is 180 degrees, and the installation angle of the leg original sections on the left side and the right side is 0 degree.
Further, the first foot part, the second foot part, the third foot part and the fourth foot part are formed by three layers of fine adsorption bristles, a double-wafer driver and a guide groove, and the double-wafer driver is used for enabling the toe part of the foot part to be bent along the direction perpendicular to the guide groove through bending when being subjected to voltage so as to enable the adsorption bristles to be peeled off from the wall body.
Furthermore, a single bristle of the adsorption bristles is of a columnar structure with a hexagonal cross section and is made of polydimethylsiloxane, and the rows are arranged in a staggered mode.
Compared with the prior art, the invention has the beneficial effects that:
the Chebyshev connecting rod is used as a leg mechanism, the upper and lower lifting and the front and back movement of the leg can be simultaneously completed under a single driving force, the diagonal gait of the movement of the robot can be realized through the 180-degree reverse installation of the left front leg joint, the right front leg joint, the left back leg joint and the right back leg joint, the whole robot only needs four steering engines, the structure is simple, the transmission is ingenious, and the movement is reliable; the robot foot can simulate the unique mechanism of inversion and eversion of the gecko foot by means of a double-chip driver, and the fragile and fine bristle structure of the sole is protected from being damaged when being detached from a wall body to a great extent.
Drawings
FIG. 1 is an overall construction diagram of a bionic four-footed wall-climbing robot based on a link mechanism;
FIG. 2 is a construction diagram of a left front leg of the bionic four-footed wall-climbing robot based on a link mechanism;
FIG. 3 is a construction diagram of a right front leg of the bionic four-footed wall-climbing robot based on a link mechanism;
FIG. 4 is a construction diagram of the left rear leg of the bionic four-footed wall-climbing robot based on the link mechanism;
FIG. 5 is a construction diagram of the right rear leg of the bionic four-footed wall-climbing robot based on the link mechanism;
fig. 6 is a foot structure diagram of the bionic four-footed wall-climbing robot based on the link mechanism.
Reference numerals:
1-a head; 2-right front leg; 3-a first steering engine; 4-precursor; 5-a power supply; 6-right rear leg; 7-a second steering engine; 8-tail; 9-a third steering engine; 10-left rear leg; 11-back; 12-waist part; 13-left front leg; 14-a fourth steering engine; 15-a first cantilever beam; 25-a second cantilever beam; 33-a third cantilever beam; 49-a fourth cantilever beam; 23-a first motive section; 24-a second motive section; 34-a third primary motion joint; 42-a fourth motive section; 22-a first link; 27-a second linkage joint; 35-a third linkage section; 48-fourth linkage segment; 17-a first intermediate section; 31-a second intermediate section; 37-third intermediate link; 45-fourth intermediate section; 18-fifth intermediate section; 28-sixth intermediate section; 39-seventh intermediate section; 46-eighth intermediate link; 21-a first slave node; 32-a second slave node; 36-a third driven node; 43-a fourth slave node; 16-a fifth slave node; 26-sixth driven node; 41-seventh slave node; 50-eighth driven node; 20-ninth slave node; 30-tenth slave node; 38-eleventh driven node; 44-twelfth slave node; 19-a first foot; 29-a second foot; 40-third foot; 47-fourth foot; 51-adsorbing bristles; 52-Dual chip drive; 53-guide groove.
Detailed Description
The present invention is described in detail with reference to the embodiments shown in the drawings, but it should be understood that these embodiments are not intended to limit the present invention, and those skilled in the art should understand that functional, methodological, or structural equivalents or substitutions made by these embodiments are within the scope of the present invention.
Referring to fig. 1, the embodiment provides a bionic four-foot wall climbing robot based on a link mechanism, which includes a head 1, a front body 4, a power supply 5, a waist 12, a back body 11, a tail 8, a right front leg 2, a left front leg 13, a right back leg 6, a left back leg 10, a first steering engine 3, a second steering engine 7, a third steering engine 9, a fourth steering engine 14, a first foot 19, a second foot 29, a third foot 40 and a fourth foot 47.
Referring to fig. 2 to 5, the left front leg 13 and the right front leg 2 are connected to the front body 4 through a first cantilever beam 15 and a second cantilever beam 25, the left rear leg 10 and the right rear leg 6 are connected to the rear body 11 through a third cantilever beam 33 and a fourth cantilever beam 49, the front body 4 and the rear body 11 are connected to the waist 12 through a spherical joint, the power supply 5 is mounted on the waist 12, and the head 1 and the tail 8 are mounted on the front body 4 and the rear body 11, respectively; the first foot section 19 is connected to the left front leg 13, the second foot section 29 is connected to the right front leg 2, the third foot section 40 is connected to the left rear leg 10, and the fourth foot section 47 is connected to the right rear leg 6.
The left front leg 13, the right front leg 2, the left rear leg 10 and the right rear leg 6 are identical in structure.
Referring to fig. 2, the left front leg 13 includes a fifth driven link 16, a first intermediate link 17, a fifth intermediate link 18, a first foot 19, a ninth driven link 20, a first driven link 21, a first transmission link 22, and a first prime link 23; the first driven joint 21 is connected to the fifth intermediate joint 18 via a ninth driven joint 20; the first driving joint 23 is connected with the fifth intermediate joint 18 through a first transmission joint 22; the fifth driven joint 16 is connected with the connecting shafts of the first driven joint 21 and the first transmission joint 22 through the first intermediate joint 17; the fifth intermediate link 18 is connected to the first foot section 19; the first driven node 21 and the fifth driven node 16 are connected to the front body 4 via the first cantilever beam 15. The structure of the right front leg 2 is shown in fig. 3, and will not be described in detail here.
Referring to fig. 4, the left rear leg 10 includes a third driving joint 34, a third transmission joint 35, a third driven joint 36, a third intermediate joint 37, an eleventh driven joint 38, a seventh intermediate joint 39, a third foot 40, and a seventh driven joint 41; the third driven joint 36 is connected to a seventh intermediate joint 39 via an eleventh driven joint 38; the third motive link 34 is connected with a seventh intermediate link 39 through a third transmission link 35; the seventh driven joint 41 is connected with the connecting shafts of the third driven joint 36 and the eleventh driven joint 38 through the third intermediate joint 37; the seventh intermediate joint 39 is connected to the third foot 40. The structure of the right rear leg 2 is shown in fig. 5, and the description is omitted here.
In this embodiment, the joints of the legs are connected by revolute pairs and hinged.
Referring to fig. 1, this state can be regarded as an initial state of the robot, and at this time, all four feet are in an adsorption state, and at the beginning of the movement, the right front foot 29 and the left rear foot 40 are firstly desorbed, and the two legs are simultaneously moved forward under the driving of the third steering engine 9.
Referring to fig. 2 to 5, the leg movement transmission routes are respectively:
left front leg 13: the first cantilever beam 15 → the first driving link 23 → the first linkage link 22 → the first intermediate link 17, the fifth intermediate link 18 → the fifth driven link 16, the ninth driven link 20, the first driven link 21;
right front leg 2: the second cantilever beam 25 → the second driving link 24 → the second linkage link 27 → the sixth intermediate link 28, the second intermediate link 31 → the sixth driven link 26, the tenth driven link 30, the second driven link 32;
left rear leg 10: the third cantilever beam 33 → the third primary link 34 → the third interlocking link 35 → the third intermediate link 37, the seventh intermediate link 39 → the third driven link 36, the eleventh driven link 38, the seventh driven link 41;
right rear leg 6: the fourth cantilever beam 49 → the fourth motive link 42 → the fourth linkage link 48 → the fourth intermediate link 45, the eighth intermediate link 46 → the fourth driven link 43, the twelfth driven link 44, the eighth driven link 50;
the length of each primary link of the leg of the robot is the same, the length of each middle link is the same, the length of each driven link is the same, and the length proportion of each link is the primary link: a middle section: a driven node: the linkage section is 1:2:2.5: 5.
When the movement starts, a certain voltage is applied to the two-wafer driver 52 of the right front foot 29 and the left rear foot 40 by the power supply 5, so that the two-wafer driver 52 starts to work, the toes of the right front foot 29 and the left rear foot 40 start to bend along the direction vertical to the guide groove 53, the two feet are detached from the wall surface, then the steering engine drives the second motive power joint 24 and the third motive power joint 34 to start to rotate, thereby driving the right front leg 2 and the left rear leg 10 to complete the forward stepping action, meanwhile, the left front foot 19 and the right rear foot 47 keep the adsorption state, the first motive power joint 23 and the fourth motive power joint 42 start to rotate under the driving of the steering engine, thereby driving the left front leg 13 and the right rear leg 6 to pedal backwards and simultaneously lift the body, when the right front leg 2 and the left rear leg 10 move to the front limit position, the left front leg 13 and the right rear leg 6 move to the rear limit position, at the same level, so that the right front foot 29 and the left rear foot 40 which are just in the suspension state contact with the wall surface and adhere again, then the bimorph drivers 52 of the left front foot 19 and the right rear foot 47 start to work under the action of the voltage sent by the power supply 5, so that the toes of the left front foot 19 and the right rear foot 47 start to bend along the direction vertical to the guide groove 53, the two feet are detached from the wall surface, the first driving link 23 and the fourth driving link 42 start to rotate under the action of the steering engine after detachment, thereby driving the left front leg 13 and the right rear leg 6 to complete the forward stepping action, and simultaneously keeping the right front foot 29 and the left rear foot 40 in the adsorption state, the second driving link 24 and the third driving link 34 start to rotate under the driving of the steering engine, thereby driving the right front leg 2 and the left rear leg 10 to pedal backwards and lift the body at the same time, when the left front leg 13 and the right rear leg 6 move to the front limit positions, the right front leg 2 and the left rear leg 10 move to the rear limit positions, at this time, the four feet are at the same level, and the left forefoot 19 and the right rearfoot 47, which were just suspended, are again brought into contact with the wall surface and adhered thereto. At this point, the robot recovers the initial state, and the one-time motion cycle of the robot is finished.
Referring to fig. 1, in order to make the robot more stable, the bending directions of the left front leg 13 and the left rear leg 10 are opposite, and the bending directions of the right front leg 2 and the right rear leg 6 are opposite; in order to realize diagonal gait of the robot, the mounting angles of the leg primary sections of the robot at the left front part and the right front part and the left rear part and the right rear part are different by 180 degrees, and the mounting angle of the leg primary sections at the left and right same sides is 0 degree.
The first, second, third and fourth foot portions 19, 29, 40 and 47 are composed of three layers of fine adsorption bristles 51, a two-chip actuator 52 and a guide groove 53, wherein the two-chip actuator 52 is used for bending the toe part of the foot portion along the direction perpendicular to the guide groove 53 by bending when receiving voltage, so that the adsorption bristles 51 are peeled off from the wall.
The single bristle of the adsorption bristle 51 is a columnar structure with a hexagonal cross section, is made of polydimethylsiloxane, and is arranged in a staggered mode from row to row, the length of the single bristle is 4 micrometers, the side length of the single bristle is 400nm, and the bristle interval is 0.6 micrometers.
This bionical four-footed wall climbing robot based on link mechanism comprises head, predecessor, waist, back, steering wheel, tail, power and four legs, and the shank passes through the cantilever beam and links to each other with predecessor and back, and the former link of leg portion links to each other with the steering wheel, and the angle difference is 180 when the former link installation of left front and right back shank, left back and right back shank, and the angle difference is 0 when the former link installation of left and right homonymy. The legs at the same side are reversely arranged (front and back), namely the bending directions are opposite, the front body and the back body are connected with the waist through spherical joints, and the power supply is fixed on the waist. When the robot is in a static state, four feet of the robot are in an adsorption state, when the robot starts to move, the two feet in opposite angles are driven by the double-wafer driver to turn outwards so as to be desorbed with a wall body, two legs start to extend forwards under the driving of the steering engine, meanwhile, the legs in the two opposite angles in the adsorption state start to be pedaled backwards so as to lift the body of the robot, when the two feet in the desorption state are contacted again and adsorbed on the wall, the two feet in the adsorption state are desorbed, and the actions are repeated, so that a movement cycle is completed.
The bionic four-footed wall-climbing robot based on the link mechanism adopts the Chebyshev link as the leg structure of the robot, can simultaneously complete two actions of lifting up and down and moving back and forth under the drive of the prime link, and only needs four steering engines, so that the structure and the control of the robot are more simplified; the robot takes the gecko as a bionic object, and the feet adopt a double-wafer driver which can simulate the unique inversion and eversion mechanism of the gecko toes to protect the fine and fragile bristle adsorption structure of the soles of the robot from being damaged.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (5)
1. A bionic four-foot wall climbing robot based on a link mechanism is characterized by comprising a head (1), a front body (4), a power supply (5), a waist (12), a back body (11), a tail (8), a right front leg (2), a left front leg (13), a right back leg (6), a left back leg (10), a first steering engine (3), a second steering engine (7), a third steering engine (9), a fourth steering engine (14), a first foot (19), a second foot (29), a third foot (40) and a fourth foot (47);
the left front leg (13) and the right front leg (2) are connected with a front body (4) through a first cantilever beam (15) and a second cantilever beam (25), the left rear leg (10) and the right rear leg (6) are connected with a rear body (11) through a third cantilever beam (33) and a fourth cantilever beam (49), the front body (4) and the rear body (11) are connected with a waist (12) through a spherical joint, the power supply (5) is installed on the waist (12), the head (1) and the tail (8) are respectively installed on the front body (4) and the rear body (11), the first foot (19) is connected with the left front leg (13), the second foot (29) is connected with the right front leg (2), the third foot (40) is connected with the left rear leg (10), and the fourth foot (47) is connected with the right rear leg (6);
the left front leg (13), the right front leg (2), the left rear leg (10) and the right rear leg (6) are identical in structure, wherein the left front leg (13) comprises a fifth driven joint (16), a first middle joint (17), a fifth middle joint (18), a first foot part (19), a ninth driven joint (20), a first driven joint (21), a first transmission joint (22) and a first driving joint (23); the first driven joint (21) is connected with the fifth intermediate joint (18) through a ninth driven joint (20); the first driving joint (23) is connected with the fifth intermediate joint (18) through a first transmission joint (22); the fifth driven joint (16) is connected with the connecting shafts of the first driven joint (21) and the first transmission joint (22) through a first middle joint (17); the fifth intermediate joint (18) is connected to the first foot part (19); the first driven joint (21) and the fifth driven joint (16) are connected with the front body (4) through a first cantilever beam (15);
the joints of the right front leg (2), the left front leg (13), the right rear leg (6) and the left rear leg (10) are connected by revolute pairs and are formed by hinging.
2. The bionic four-footed wall-climbing robot based on the link mechanism as claimed in claim 1, characterized in that the bending direction of the left front leg (13) is opposite to that of the left back leg (10), and the bending direction of the right front leg (2) is opposite to that of the right back leg (6).
3. The bionic four-footed wall-climbing robot based on the link mechanism as claimed in claim 2, characterized in that the installation angles of the leg prime sections of the left front leg (13) and the right front leg (2), the left rear leg (10) and the right rear leg (6) are different by 180 degrees, and the installation angle of the leg prime sections on the left and right sides is 0 degree.
4. The bionic quadruped wall climbing robot based on the link mechanism according to claim 1, characterized in that the first foot part (19), the second foot part (29), the third foot part (40) and the fourth foot part (47) are composed of three layers of fine adsorption bristles (51), a two-wafer driver (52) and a guide groove (53), wherein the two-wafer driver (52) is used for bending a toe part of the foot part in a direction perpendicular to the guide groove (53) through bending when being subjected to voltage so as to enable the adsorption bristles (51) to be peeled off from a wall body.
5. The bionic four-footed wall-climbing robot based on the link mechanism of claim 4, characterized in that the single bristle of the adsorption bristle (51) is a column structure with a hexagonal cross section, is made of polydimethylsiloxane, and is arranged in a staggered manner from row to row.
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| CN113184075A (en) * | 2021-05-25 | 2021-07-30 | 重庆邮电大学 | Wind-resistant vibration-resistant climbing robot imitating exendin |
| CN113247136A (en) * | 2021-05-27 | 2021-08-13 | 南京航空航天大学 | Bionic adhesion part driven by solid-liquid mixing and with controllable adhesion-desorption |
| CN113247136B (en) * | 2021-05-27 | 2022-07-12 | 南京航空航天大学 | Bionic adhesion part driven by solid-liquid mixing and with controllable adhesion-desorption |
| CN114737569A (en) * | 2022-04-19 | 2022-07-12 | 北京工业大学 | Straw inserting mechanism based on Chebyshev connecting rod |
| CN114737569B (en) * | 2022-04-19 | 2024-03-08 | 北京工业大学 | Grass cutting mechanism based on chebyshev connecting rod |
| CN114851223A (en) * | 2022-05-24 | 2022-08-05 | 武汉理工大学 | Bionic robot for wall detection, image processing device and working method |
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