CN112849292A - Multi-mode bionic wall-climbing robot imitating long-grasshopper movement form - Google Patents
Multi-mode bionic wall-climbing robot imitating long-grasshopper movement form Download PDFInfo
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
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- 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 relates to the technical field of robots, in particular to a multi-mode bionic wall-climbing robot imitating the motion form of a long-horned grasshopper, which comprises a trunk body, wherein the lower part of the trunk body is provided with a plurality of foot driving mechanisms, the foot driving mechanisms are provided with foot end collaborative attachment mechanisms in contact with a wall surface, the trunk body is provided with a wireless receiver, the wireless receiver receives signals and controls the plurality of foot driving mechanisms on the trunk body to be mutually linked, and meanwhile, the foot end collaborative attachment mechanisms are controlled to be in contact with or separated from the wall surface, so that the climbing or jumping of the robot is realized, an active regulation and control 'catching-adhering' structure and a connecting rod mechanism are innovatively combined, and the climbing and jumping on various complex wall surfaces can be.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a multi-mode bionic wall-climbing robot imitating the motion form of a longhorned grasshopper.
Background
The vacuum and strong magnetic wall surface attachment mode adopted by the traditional wall climbing robot is only suitable for specific application scenes, for example, the vacuum attachment mainly faces to a smooth dust-free wall surface and is easy to lose effectiveness in a rough wall surface or a negative pressure environment; strong magnetic adsorption can only be used for the magnetic conduction surface, and in addition, these traditional wall climbing robots consume energy higher, work noise is great, are difficult to accomplish miniaturization, lightweight, can't realize narrow and small region's operation. Researchers develop a series of adhesion and claw-thorn type bionic climbing robots by simulating the special attachment and movement capabilities of geckos, spiders, insects and other organisms, adhesion materials of the adhesion robots can be used for attachment of various smooth wall surfaces, but large pressing force and desorption force are needed in the adhesion and desorption processes, claw-thorn attachment modes can be suitable for partial rough wall surfaces, and when the appearance characteristics of the wall surfaces change greatly, the adhesion points often fail. The main reasons are that: the current bionic mechanism does not consider the mutual synergistic action of a plurality of attachment modes, and the self motion capability and autonomy of the current bionic mechanism are limited to a great extent. The robot performs tasks such as detection, reconnaissance and latency on a three-dimensional wall surface for a long time, and extremely high requirements are provided for climbing and rapid transition capabilities of the robot on different wall surfaces, but the existing bionic wall climbing robot is insufficient, so that efficient and stable wall surface climbing technology needs to be researched urgently.
The attachment mode of the current climbing robot is relatively single, the wall adaptive capacity is poor, the synergistic effect among multiple attachment modes is lacked, the bionic climbing robot mostly does not have the wall rapid jumping transition capacity, and the jumping robot has not been applied to the case in the wall climbing operation yet. Therefore, the research of the climbing robot with the active regulation and control cooperative attachment mechanism and the rapid switching mechanism between the walls is developed based on the requirement of free, flexible and stable motion of the robot in the three-dimensional wall space, is one of the problems to be solved urgently in the technical field of wall climbing, opens a new research idea for the adaptability of various walls of the bionic wall climbing robot, and has important theoretical value and practical application prospect.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to solve the problems that the climbing robot in the prior art is relatively single in attachment mode, poor in wall surface adaptability and free of wall surface rapid jumping transition capacity, a multi-mode bionic wall-climbing robot imitating the motion form of a long-horned grasshopper is provided, in the wall climbing process, three legs are kept in a supporting phase state at the same time, the other three legs are in a suspended phase state, and the gravity center of the robot is positioned in a triangle formed by the three supporting legs; the robot can move on the wall surface in all directions by controlling the alternate actions of the front foot, the middle foot and the rear foot; in the process of wall surface jumping transition, the jumping postures of the front foot and the middle foot are adjusted, the rear foot drives the eight-connecting-rod series mechanism to extend and contract under the action of power modulation of a motor, and the adjustment of the aerial posture of the robot and the flexible active regulation and control contact of the wall surface are realized.
The technical scheme adopted by the invention for solving the technical problems is as follows: a multi-mode bionic wall-climbing robot imitating the movement form of a longhorned grasshopper comprises a trunk body, wherein a plurality of foot driving mechanisms are arranged on the lower portion of the trunk body, foot end cooperative attachment mechanisms in contact with a wall surface are arranged on the foot driving mechanisms, a wireless receiver is arranged on the trunk body, signals are received through the wireless receiver, the plurality of foot driving mechanisms on the trunk body are controlled to be mutually linked, and meanwhile, the foot end cooperative attachment mechanisms are controlled to be in contact with or separated from the wall surface, so that the robot can climb or jump;
the foot end collaborative attachment mechanism comprises a connecting plate, a motor is arranged on the connecting plate, claw thorns are arranged on the lower surface of the connecting plate, a floating support is arranged on the connecting plate, the floating support is connected with a gas cavity formed in the connecting plate in a sealed sliding mode, an extrusion piston is arranged in the gas cavity in a sliding mode and is in transmission connection with the output end of the motor, and a plurality of foot pads are arranged on the lower end surface of the floating support.
The foot driving mechanism is composed of a plurality of front-drive foot driving mechanisms and rear-drive jumping mechanisms, and the front-drive foot driving mechanisms and the rear-drive jumping mechanisms are symmetrically arranged on two sides of the lower part of the trunk body.
The forerunner foot driving mechanism comprises a first joint component, a second joint component, a third joint component, a thigh rod part and a shank rod part, wherein the first joint component is fixed on the trunk main body and is in transmission connection with the thigh rod part and can drive the thigh rod part to deflect in a reciprocating mode, the other end of the thigh rod part is fixedly connected with the second joint component, the second joint component is in transmission connection with the shank rod part and can drive the shank rod part to deflect in a reciprocating mode, the other end of the shank rod part is fixedly connected with the third joint component, and the third joint component is in transmission connection with the foot end and is cooperated with the attachment mechanism and can drive the foot end and is cooperated with the attachment mechanism to deflect in a reciprocating.
The rear-drive jumping mechanism comprises a connecting rod mechanism, a rotating joint assembly and a damping buffer mechanism, wherein the connecting rod mechanism is used for ensuring that the robot can keep horizontal with the belly of the robot at the initial jumping-contact full cycle stage, the rotating joint assembly is fixed at the rear end of the trunk body side and is in transmission connection with the connecting rod mechanism, the damping buffer mechanism is fixed on the rear side face of the trunk body and is in transmission connection with the connecting rod mechanism, and the foot end is connected to the lower end of the connecting rod mechanism in cooperation with the attachment mechanism.
The linkage mechanism comprises a first linkage mechanism and a second linkage mechanism, the first linkage mechanism comprises a first rod, a second rod and a third rod, one end of the first rod is hinged to one end of the second rod, one end of the third rod is hinged to the other end of the first rod, the other end of the third rod is hinged to the other end of the second rod, the second linkage mechanism comprises a fourth rod, a fifth rod and a sixth rod, one end of the fourth rod is hinged to one end of the fifth rod, the other end of the fourth rod is hinged to one end of the sixth rod, the other end of the fifth rod is hinged to the second rod, the other end of the sixth rod is hinged to the third rod, and a four-link mechanism is formed among hinge points of the fourth rod, the fifth rod, the sixth rod and the fifth rod and hinge points of the sixth rod.
The damping buffer mechanism is composed of a magneto-rheological damper and a power modulation motor, and the output end of the power modulation motor is in transmission connection with a connecting rod mechanism. The power modulation motor drives the link mechanism to realize the jumping function of the robot, the rigidity coefficient of the magnetorheological fluid is changed by controlling the current of the magnetorheological damper, the flexible transition of the attachment mechanism in the wall surface contact process can be realized, and meanwhile, the influence of impact load on the power modulation motor can be reduced. The link mechanism ensures that the robot can be kept horizontal with the abdomen of the robot at the initial jumping-contact full period stage, and ensures the posture consistency when the robot contacts the wall surface.
The first joint assembly, the second joint assembly, the third joint assembly and the rotating joint assembly are respectively a driving motor and a gear assembly arranged at the output end of the driving motor, and the first joint assembly, the second joint assembly and the third joint assembly are used for adjusting joint angles of a thigh rod part and a shank rod part. The rotary joint component is used for adjusting the angle of the rotary connecting rod mechanism.
In order to give sufficient support and stability to the trunk body, a front-drive foot drive mechanism is provided on each of both sides of the front portion of the trunk body, and a front-drive foot drive mechanism is provided on each of both sides of the middle portion of the trunk body. The front-drive foot driving mechanism comprises three joint components for respectively realizing the deflection and rolling posture adjustment of the foot, each tail end joint is connected with the foot end cooperative attachment mechanism, and the driving mode is similar to that of the degree of freedom driving of the long-horned grasshopper foot.
Two wireless receivers are arranged at the front end of the trunk body.
The foot pad is made of polyurethane. The polyurethane is manufactured by a shape deposition process and a silicon wafer etching process, the surface of the foot pad has the characteristics of micro-nanometer level, the stable attachment of the foot pad and the wall surface is realized by the van der Waals force action under a microscopic angle, the robot can change the rigidity coefficient of the magnetorheological fluid by controlling the current of the magnetorheological damper in the process from suspension to contact with the wall surface, the flexible transition of the attachment mechanism in the process of contacting the wall surface can be realized, meanwhile, the influence of impact load on a motor can be reduced, the connecting rod mechanism ensures that the robot can be kept horizontal with the abdomen of the robot in the initial jumping-contact full period stage, the attitude consistency of the robot when contacting the wall surface is ensured, the connecting rod movement mechanism can always keep the adhesion-grasping of the rear-driven jumping mechanism, and the foot end is always kept in parallel contact with the wall surface when cooperating with the attachment mechanism and the wall surface, the contact posture is not required to be changed by adjusting the power modulation motor and the rotating joint component.
The invention has the beneficial effects that: the invention has the following advantages:
1. the multi-mode bionic wall-climbing robot imitating the movement form of the long-horned grasshopper is innovatively combined with an active regulation and control 'catching-adhering' structure and a connecting rod mechanism, and can realize crawling and jumping on various complex wall surfaces.
2. The robot is climbing the wall in-process, the motion mode of adoption be triangle gait, promptly: the three legs are kept in the supporting phase state at the same time, the other three legs are in the suspended phase state, and the gravity center of the robot is positioned in a triangle formed by the three supporting feet. The robot can move on all sides of the wall surface by controlling the alternating action of the front foot, the middle foot and the rear foot. In the process of wall surface jumping transition, the jumping postures of the front foot and the middle foot are adjusted, the rear foot drives the eight-connecting-rod series mechanism to extend and contract under the action of power modulation of a motor, and the adjustment of the aerial posture of the robot and the flexible active regulation and control contact of the wall surface are realized.
3. The long-horned grasshopper movement gait provides inspiration for the design of the creeping and jumping movement modes of the wall-climbing robot, and the space wall surface adaptability of the robot is greatly improved.
4. When the robot climbs on a smooth wall surface, the claw spines do not have grabbing points, and the robot moves on the wall surface only by means of the adhesion effect of the foot pads and the wall surface; when the rough wall surface crawls, the claw spines, the foot pads and the wall surface particles form mechanical interlocking, so that the wall surface can stably crawl.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic three-dimensional structure of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a schematic diagram of the front drive foot drive mechanism of the present invention;
FIG. 4 is a schematic structural view of a foot end cooperative attachment mechanism of the present invention;
FIG. 5 is a front view of the rear drive jump mechanism of the present invention;
fig. 6 is a top view of the rear drive jump mechanism of the present invention.
In the figure: 1. a trunk body, 2, a foot driving mechanism, 3, a wireless receiver,
4. a front-drive foot drive mechanism, 41, a first joint component, 42, a second joint component, 43, a third joint component, 44, a thigh rod part, 45, a shank rod part, 46, a foot end cooperative attachment mechanism, 461, a connecting plate, 462, a motor, 463, a claw thorn, 464, a floating support, 465, a gas cavity, 466, a squeezing piston, 467, a foot pad;
5. the rear-drive hopping mechanism comprises a rear-drive hopping mechanism, 51, a link mechanism, 511, a first rod, 512, a second rod, 513, a third rod, 514, a fourth rod, 515, a fifth rod, 516, a sixth rod, 52, a rotating joint component, 53, a damping and buffering mechanism, 531, a magnetorheological damper and 532, and a power modulation motor.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
As shown in fig. 1-6, a multi-mode bionic wall-climbing robot imitating the motion form of a long-horned grasshopper, wherein a plurality of foot driving mechanisms 2 are arranged at the lower part of a trunk body 1, foot end cooperative attachment mechanisms 46 in contact with a wall surface are arranged on the foot driving mechanisms 2, a wireless receiver 3 is arranged on the trunk body 1, the wireless receiver 3 receives signals and controls the plurality of foot driving mechanisms 2 on the trunk body 1 to be linked with each other, and meanwhile, the foot end cooperative attachment mechanisms 46 are controlled to be in contact with or separated from the wall surface, so that the robot can climb or jump;
the front-drive foot driving mechanism 4 comprises a first joint component 41, a second joint component 42, a third joint component 43, a thigh rod part 44 and a shank rod part 45, wherein the first joint component 41 is fixed on the trunk body 1, is in transmission connection with the thigh rod part 44 and can drive the thigh rod part 44 to deflect in a reciprocating manner, the other end of the thigh rod part 44 is fixedly connected with the second joint component 42, the second joint component 42 is in transmission connection with the shank rod part 45 and can drive the shank rod part 45 to deflect in a reciprocating manner, the other end of the shank rod part 45 is fixedly connected with the third joint component 43, and the third joint component 43 is in transmission connection with a foot end and an attachment mechanism 46 and can drive the foot end and the attachment mechanism 46 to deflect in a reciprocating manner;
the foot end cooperative attachment mechanism 46 comprises a connecting plate 461, a motor 462 is arranged on the connecting plate 461, claw barbs 463 are arranged on the lower plate surface of the connecting plate 461, floating supports 464 penetrate through the plate surface of the connecting plate 461 between the claw barbs 463, the floating supports 464 are in sealed sliding connection with gas cavities 465 formed in the connecting plate 461, the output end of the motor 462 is communicated with the gas cavities 465 formed in the connecting plate 461 through extrusion pistons 466, and a plurality of foot pads 467 are arranged on the lower end surface of the floating supports 464;
the rear-drive jumping mechanism 5 comprises a link mechanism 51, a rotating joint component 52 and a damping buffer mechanism 53, wherein the link mechanism 51 is used for ensuring that the robot can keep horizontal with the abdomen of the robot at the initial jumping-contact full cycle stage, the rotating joint component 52 is fixed at the rear end of the side of the trunk body 1, the rotating joint component 52 is in transmission connection with the link mechanism 51, the damping buffer mechanism 53 is fixed at the rear side surface of the trunk body 1 and is in transmission connection with the link mechanism 51, and the foot end is connected to the lower end of the link mechanism 51 in cooperation with the attachment mechanism 46. In the process that the robot is in contact with the wall surface from suspension, the rigidity coefficient of magnetorheological fluid is changed by controlling the current of the magnetorheological damper 531, the flexible transition of the foot end cooperative attachment mechanism 46 in the process of wall surface contact can be realized, meanwhile, the influence of impact load on the motor can be reduced, the link mechanism 51 ensures that the robot can be kept horizontal with the abdomen of the robot at the initial jumping-contact full period stage, the attitude consistency of the robot when the robot is in contact with the wall surface is ensured, the link mechanism 51 can always keep the rear-driven jumping mechanism 'adhesion-grabbing adhesion', the foot end cooperative attachment mechanism 46 is always kept in parallel contact with the wall surface when being in contact with the wall surface, and the contact attitude is not required to be changed by adjusting the power modulation motor 532 and the rotating joint component 52.
The first joint assembly 41, the second joint assembly 42, the third joint assembly 43 and the rotary joint assembly 52 are all driving motors and gear assemblies arranged at the output ends of the driving motors. The first joint assembly 41, the second joint assembly 42, and the third joint assembly 43 are used to adjust the joint angles of the thigh rod portion 44 and the shank rod portion 45, and the rotational joint assembly 52 is used to adjust the angle of the rotational link mechanism 51.
The front-drive foot-drive mechanisms 4 are respectively arranged at the front part and the middle part of the two sides of the trunk body 1. In order to give the trunk main body 1 sufficient support and stability, one front-drive foot drive mechanism 4 is provided on each of both sides of the front portion of the trunk main body 1, and one front-drive foot drive mechanism 4 is provided on each of both sides of the middle portion of the trunk main body 1. The front-drive foot driving mechanism 4 comprises three joint components for respectively realizing the deflection and rolling posture adjustment of the foot, each tail end joint is connected with a foot end collaborative attachment mechanism, and the driving mode is similar to the long-horned grasshopper foot degree of freedom driving mode.
Two wireless receivers 3 are arranged at the front end of the trunk body 1.
The damping buffer mechanism 53 is composed of a magnetorheological damper 531 and a power modulation motor 532, and the output end of the power modulation motor 532 is in transmission connection with the link mechanism 51. The power modulation motor 532 drives the link mechanism 51 to realize the jumping function of the robot, the rigidity coefficient of the magnetorheological fluid is changed by controlling the current of the magnetorheological damper 531, the smooth transition of the foot end and the attachment mechanism 46 in the wall surface contact process can be realized, meanwhile, the influence of impact load on the power modulation motor 532 can be reduced, the link mechanism 51 ensures that the robot can be kept horizontal with the abdomen of the robot at the initial jumping-full contact period stage, and the attitude consistency of the robot when contacting the wall surface is ensured.
The footpad 467 is made of polyurethane. Footpad 467 is made of polyurethane. The polyurethane is manufactured through a shape deposition process and a silicon wafer etching process, the surface of the foot pad 467 has micro-nano-scale characteristics, and the stable adhesion of the foot pad and the wall surface is realized through van der Waals force action under a microscopic angle.
The link mechanism 51 includes a first link mechanism including a first rod 511, a second rod 512, and a third rod 513, one end of the first lever 511 is hinged with one end of the second lever 512, one end of the third lever 513 is hinged with the other end of the first lever 511, the other end of the third rod 513 is hinged with the other end of the second rod 512, the second linkage comprises a fourth rod 514, a fifth rod 515 and a sixth rod 516, one end of the fourth rod 514 is hinged with one end of the fifth rod 515, the other end of the fourth rod 514 is hinged with one end of the sixth rod 516, the other end of the fifth rod 515 is hinged with the second rod 512, the other end of the sixth rod 516 is hinged with the third rod 513, and a four-bar linkage is formed among the hinged points of the fourth bar 514, the fifth bar 515, the sixth bar 516 and the fifth bar 515 and the hinged point of the sixth bar 516. The damping cushion mechanism 53 is provided between the first link mechanism and the second link mechanism.
In use, two motion modes: namely a climbing mode and a jumping mode, the coordination action of the claw 463 on the foot end cooperative attachment mechanism 46 and the foot pad 367 is the key for realizing the stable climbing on various smooth and rough wall surfaces, the foot end cooperative attachment mechanism 46 of the claw-adhesion based on an active regulation mechanism is used for wall surface attachment, the rear-drive jumping mechanism 5 can provide initial elastic force for the transition on different wall surfaces, the transition of the robot between the wall surfaces is realized by adopting a motor power modulation serial connection type connecting rod mechanism 51, the foot end cooperative attachment mechanism 46 and the rear-drive jumping mechanism 5 are integrated according to the running requirement of the robot on various complex wall surfaces, the parameters of a mechanical system are optimized based on a configuration comprehensive method and combined with finite element analysis and check calculation, and the robot consists of a trunk main body 1, a plurality of front-drive foot drive mechanisms 4, a plurality of rear-drive jumping mechanisms 5 and a wireless receiver 3, the front-drive foot driving mechanism 4 comprises three joint components for respectively realizing the deflection and rolling posture adjustment of the foot, and each tail end joint is connected with a foot end cooperative attachment mechanism; similar long-horned grasshopper foot degree of freedom drive mode, the robot hindfoot only includes that two drive degrees of freedom adjust the joint angle of thigh and shank, and every joint comprises different drive module, and 5 end joints of back-drive jump mechanism also are equipped with the foot end and adhere to mechanism 46 in coordination, and the robot is climbing the wall in-process, and the motion mode of adoption is the triangle gait, promptly: the three legs are kept in a supporting phase state at the same time, the other three legs are in a suspended phase state, the gravity center of the robot is positioned in a triangle formed by the three supporting feet, the robot can move on the wall surface in all directions by controlling the alternate actions of the front-drive foot driving mechanism 4 and the rear-drive jumping mechanism 5, the jumping postures of the front-drive foot driving mechanism 4 are adjusted in the wall surface jumping transition process, the rear-drive jumping mechanism 5 drives the connecting rod mechanism 51 to extend and contract by utilizing the damping buffer mechanism 53, and the adjustment of the aerial posture of the robot and the flexible active regulation and control contact of the wall surface are realized.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. The utility model provides a bionical wall climbing robot of long-horned grasshopper sports form imitated, includes truck main part (1), its characterized in that: the lower part of the trunk main body (1) is provided with a plurality of foot driving mechanisms (2), the foot driving mechanisms (2) are provided with foot end collaborative attachment mechanisms (46) which are in contact with the wall surface, the trunk main body (1) is provided with a wireless receiver (3), the wireless receiver (3) is used for receiving signals and controlling the plurality of foot driving mechanisms (2) on the trunk main body (1) to be linked with each other, and meanwhile, the foot end collaborative attachment mechanisms (46) are controlled to be in contact with or separated from the wall surface, so that the robot can climb or jump;
the foot end collaborative attachment mechanism (46) comprises a connecting plate (461), a motor (462) is arranged on the connecting plate (461), claw thorns (463) are arranged on the lower surface of the connecting plate (461), a floating support (464) is arranged on the connecting plate (461), the floating support (464) is in sealed sliding connection with a gas cavity (465) formed in the connecting plate (461), an extrusion piston (466) is arranged in the gas cavity (465) in a sliding mode, the extrusion piston (466) is in transmission connection with an output end of the motor (462), and a plurality of foot pads (467) are arranged on the lower end face of the floating support (464).
2. The multi-mode bionic wall-climbing robot imitating the motion form of long-horned grasshopper as claimed in claim 1, wherein: the foot driving mechanism (2) is composed of a plurality of front-drive foot driving mechanisms (4) and rear-drive jumping mechanisms (5), and the front-drive foot driving mechanisms (4) and the rear-drive jumping mechanisms (5) are symmetrically arranged on two sides of the lower part of the trunk body.
3. The multi-mode bionic wall-climbing robot imitating the motion form of long-horned grasshopper as claimed in claim 2, wherein: the front-drive foot driving mechanism (4) comprises a first joint component (41), a second joint component (42), a third joint component (43), a thigh rod part (44) and a shank rod part (45), wherein the first joint component (41) is fixed on the trunk body (1), is in transmission connection with the thigh rod part (44) and can drive the thigh rod part (44) to deflect in a reciprocating mode, the other end of the thigh rod part (44) is fixedly connected with the second joint component (42), the second joint component (42) is in transmission connection with the shank rod part (45) and can drive the shank rod part (45) to deflect in a reciprocating mode, the other end of the shank rod part (45) is fixedly connected with the third joint component (43), and the third joint component (43) is in transmission connection with the foot end and can drive the foot end and attach the mechanism (46) to deflect in a reciprocating mode.
4. The multi-mode bionic wall-climbing robot imitating the motion form of long-horned grasshopper as claimed in claim 2, wherein: the rear-drive jumping mechanism (5) comprises a link mechanism (51), a rotating joint component (52) and a damping buffer mechanism (53), wherein the link mechanism (51), the rotating joint component (52) and the damping buffer mechanism (53) are used for ensuring that the robot can keep horizontal with the belly of the robot at the initial jumping-contact full cycle stage, the rotating joint component (52) is fixed at the rear end of the side of the trunk body (1), the rotating joint component (52) is in transmission connection with the link mechanism (51), the damping buffer mechanism (53) is fixed at the rear side of the trunk body (1) and is in transmission connection with the link mechanism (51), and the foot end is connected to the lower end of the link mechanism (51) in cooperation with the.
5. The multi-mode bionic wall-climbing robot imitating the motion form of long-horned grasshopper as claimed in claim 4, wherein: the link mechanism (51) comprises a first link mechanism and a second link mechanism, the first link mechanism comprises a first rod (511), a second rod (512) and a third rod (513), one end of the first rod (511) is hinged with one end of the second rod (512), one end of the third rod (513) is hinged with the other end of the first rod (511), the other end of the third rod (513) is hinged with the other end of the second rod (512), the second link mechanism comprises a fourth rod (514), a fifth rod (515) and a sixth rod (516), one end of the fourth rod (514) is hinged with one end of the fifth rod (515), the other end of the fourth rod (514) is hinged with one end of the sixth rod (516), the other end of the fifth rod (515) is hinged with the second rod (512), the other end of the sixth rod (516) is hinged with the third rod (513), and the fourth rod (514), And a four-bar linkage mechanism is formed among the hinge point of the fifth rod (515), the sixth rod (516) and the fifth rod (515) and the hinge point of the sixth rod (516).
6. The multi-mode bionic wall-climbing robot imitating the motion form of long-horned grasshopper as claimed in claim 4 or 5, wherein: the damping buffer mechanism (53) is composed of a magneto-rheological damper (531) and a power modulation motor (532), and the output end of the power modulation motor (532) is in transmission connection with the link mechanism (51).
7. The multi-mode bionic wall-climbing robot imitating the motion form of long-horned grasshopper as claimed in claim 1, wherein: the first joint assembly (41), the second joint assembly (42), the third joint assembly (43) and the rotating joint assembly (52) are all driving motors and gear assemblies arranged at the output ends of the driving motors.
8. The multi-mode bionic wall-climbing robot imitating the motion form of long-horned grasshopper as claimed in claim 1, wherein: the front part and the middle part of the two sides of the trunk body (1) are respectively provided with a front-drive foot-driving mechanism (4).
9. The multi-mode bionic wall-climbing robot imitating the motion form of long-horned grasshopper as claimed in claim 1, wherein: two wireless receivers (3) are arranged at the front end of the trunk body (1).
10. The multi-mode bionic wall-climbing robot imitating the motion form of long-horned grasshopper as claimed in claim 1, wherein: the footpad (467) is made of polyurethane.
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| CN202110370776.2A CN112849292A (en) | 2021-04-07 | 2021-04-07 | Multi-mode bionic wall-climbing robot imitating long-grasshopper movement form |
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| CN202110370776.2A CN112849292A (en) | 2021-04-07 | 2021-04-07 | Multi-mode bionic wall-climbing robot imitating long-grasshopper movement form |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114310983A (en) * | 2021-12-29 | 2022-04-12 | 南京信息工程大学 | Gripping device and method with controllable surface adhesion force based on magnetorheological fluid |
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2021
- 2021-04-07 CN CN202110370776.2A patent/CN112849292A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114310983A (en) * | 2021-12-29 | 2022-04-12 | 南京信息工程大学 | Gripping device and method with controllable surface adhesion force based on magnetorheological fluid |
| CN114310983B (en) * | 2021-12-29 | 2023-05-09 | 南京信息工程大学 | Grabbing device and method based on magnetorheological fluid and with controllable surface adhesion force |
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