CN108001557B - Bionic wall-climbing robot based on triangular gait of insects - Google Patents

Abstract

The invention discloses a bionic wall-climbing robot based on triangular gait of insects, comprising: two sides of the middle of the upper bottom plate of the body are provided with a beam-shaped structure extending downwards; wing-shaped structures protruding upwards are arranged on two sides of the middle of the lower bottom plate of the body; the foldable foot is folded into a box-shaped structure on the plane, and the motion joint structure is formed by shared edges between the surfaces of the box-shaped structure; the single motor driving mechanism comprises a single direct current motor and a corresponding connecting part and is used for driving the upper body bottom plate and the lower body bottom plate to perform relative circular translation so as to enable the robot to realize a hexapod synchronous state; the sole plate consists of three layers of plate structures and an elastic buffer structure. The robot can be composed of two bottom plates and six feet, the feet can be formed by folding, and the hexapod coordination state is realized through single motor driving, so that the purposes of saving energy and reducing volume are realized, and the practicability and the applicability of the wall-climbing robot are effectively improved.

Description

A bionic wall-climbing robot based on insect triangular gait

technical field

The invention relates to the technical field of robots, in particular to a bionic wall-climbing robot based on insect triangular gait.

Background technique

Climbing robots have broad application prospects in the fields of climbing rescue and spacecraft extravehicular walking. However, the design and application of wall-climbing robots have great defects. At present, most of the wall-climbing robots put into use adopt the idea of vacuum adsorption, magnetic adsorption or air reverse thrust force, which consumes a lot of energy, or has very limited application occasions, for example, it cannot be used in space or on the surface of non-magnetic materials.

In addition, the idea of bionics has great advantages, saving energy and reducing design difficulty. However, the wall-climbing robots using the bionic method are too bulky to meet the scene requirements of flexibility. Small wall-climbing robots can meet the needs of flexibility and low energy consumption at the same time, and have been used in various scenarios such as space and buildings. However, small robots are difficult to process and have low production costs, which need to be solved.

SUMMARY OF THE INVENTION

The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

Therefore, the purpose of the present invention is to propose a bionic wall-climbing robot based on insect triangular gait, which can achieve the purpose of energy saving and volume reduction, and effectively improve the practicability and applicability of the wall-climbing robot.

In order to achieve the above object, an embodiment of the present invention proposes a bionic wall-climbing robot based on the triangular gait of insects, comprising: a bottom plate of the body, the middle two sides of the bottom plate of the body are provided with beam-like structures extending downward; The bottom plate of the body, the middle two sides of the bottom plate of the body are provided with upwardly protruding wing-like structures; the foldable foot, the foldable foot is folded into a box-like structure on a plane, and the kinematic joint structure is formed by the box The single-motor drive mechanism includes a single DC motor and corresponding connecting parts, which are used to drive the upper body plate and the lower body plate to form a relative circle. Zhou translation, so that the robot realizes the hexapod cooperative gait; the foot sole plate structure, the foot sole plate is composed of a three-layer plate-like structure and an elastic buffer structure.

The bionic wall-climbing robot based on the insect triangular gait according to the embodiment of the present invention can be composed of two bottom plates and six feet, and the feet can be folded, and the six-legged cooperative gait can be realized by driving a single motor, thereby effectively reducing zero The number of parts effectively reduces the volume and quality requirements of the robot, greatly reduces the processing difficulty and manufacturing cost of small robots, thereby achieving the purpose of energy saving and volume reduction, and effectively improving the practicability and applicability of wall-climbing robots.

In addition, the bionic wall-climbing robot based on the insect triangular gait according to the above-mentioned embodiments of the present invention may also have the following additional technical features:

Further, in an embodiment of the present invention, the beam-like structure and the wing-like structure are used to make the upper and lower relative movement of the middle part of the body of the robot and the reverse movement of the body back and forth.

Further, in an embodiment of the present invention, the surface of the box-shaped structure rotates at an angle of less than 180 degrees around the common edge, and is projected in a direction perpendicular to the side surface, so as to become a parallelogram linkage mechanism.

Further, in an embodiment of the present invention, the single DC motor may be connected to the upper bottom plate of the body through non-standard shaft sleeves and thin rods.

Further, in an embodiment of the present invention, the thin rod and the body upper bottom plate rotate relative to each other, wherein the connection between the thin rod and the body upper bottom plate adopts the gap between the thin rod and the body cavity. Fit or use miniature bearings.

Further, in an embodiment of the present invention, the center of mass of the bottom plate on the body is driven by the single motor drive structure to move in a circular motion, and the bottom plate itself does not rotate.

Further, in an embodiment of the present invention, the foldable foot includes six feet, and the six feet and the lower bottom plate of the body are adhered by a facet, wherein the facet is the The abducted part of the box-like structure.

Further, in an embodiment of the present invention, the six feet and the upper bottom plate of the body are connected by a long plane and the small plane.

Further, in an embodiment of the present invention, the first layer of the sole is connected to the foot, the first layer and the second layer are connected by a buffer elastic structure to change the height difference, and the third The laminate is a sticky material for easy attachment.

Optionally, in an embodiment of the present invention, the size of the robot may be limited to a space of 100 mm square.

Additional aspects and advantages of the present invention will be set forth, in part, from the following description, and in part will be apparent from the following description, or may be learned by practice of the invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

1 is a schematic structural diagram of a bionic wall-climbing robot based on an insect triangular gait according to an embodiment of the present invention;

2 is a schematic perspective view of the upper bottom plate of the body of the bionic wall-climbing robot based on insect triangular gait according to an embodiment of the present invention;

3 is a schematic perspective view of a lower body bottom plate of a bionic wall-climbing robot based on an insect triangular gait according to an embodiment of the present invention;

4 is a schematic perspective view of a left foot of a bionic wall-climbing robot based on an insect triangular gait according to an embodiment of the present invention;

5 is a schematic perspective view of a bionic wall-climbing robot based on an insect triangular gait when moving from different angles according to an embodiment of the present invention;

6 is a schematic diagram of the foot shape of a bionic wall-climbing robot based on an insect triangular gait according to an embodiment of the present invention.

Detailed ways

The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention and should not be construed as limiting the present invention.

The following describes a bionic wall-climbing robot based on an insect triangular gait proposed according to an embodiment of the present invention with reference to the accompanying drawings.

FIG. 1 is a schematic structural diagram of a bionic wall-climbing robot based on an insect triangular gait according to an embodiment of the present invention.

As shown in FIG. 1 , the bionic wall-climbing robot 100 based on insect triangular gait includes: an upper body base 10 , a lower body base 20 , a foldable foot 30 , a single motor drive mechanism and a foot base structure.

Wherein, the middle two sides of the bottom plate 10 of the body are provided with beam-like structures 11 extending downward. Wing-like structures 21 protruding upward are provided on both sides of the middle of the lower body bottom plate 20 . The foldable foot 30 is folded into a box-like structure on a plane, and the kinematic joint structure is formed by the common edges between the box-like structure surfaces. The single-motor drive mechanism includes a single DC motor and corresponding connecting components, and is used to drive the body upper base plate 10 and the body lower base plate 20 to perform relative circular translation, so that the robot can realize a hexapod cooperative gait. The sole plate is composed of a three-layer plate-like structure and an elastic buffer structure. The robot 100 in the embodiment of the present invention may be composed of two bottom plates and six feet, and the feet may be folded, and the six-legged cooperative gait can be realized by driving a single motor, so as to achieve the purpose of saving energy, reducing the volume, and effectively improving the climbing ability. Practicality and applicability of wall robots.

It can be understood that the embodiment of the present invention can realize the insect-like hexapod cooperative gait through the input of circular motion of a single motor, and effectively reduce the quality of the robot by using a simplified mechanism, and the manufacturing process of the robot 100 in the embodiment of the present invention is simple, and can realize the two Folding from three-dimensional plane to three-dimensional space, thereby simplifying the driving mode and manufacturing process, effectively reducing the energy required for wall climbing, the volume is small enough to have a wide range of applications, and it has strong scalability.

Further, in an embodiment of the present invention, the beam-like structure 11 and the wing-like structure 21 are used to make the upper and lower relative movement of the middle part of the body of the robot and the reverse movement of the body back and forth.

It can be understood that, as shown in FIG. 1 , in the structure of the upper and lower bottom plates of the body according to the embodiment of the present invention, the middle two sides of the upper body bottom plate 10 have beam-like structures 11 extending downward, and the middle two sides of the lower body bottom plate 20 have upward protrusions. The wing-like structure 21 can achieve the purpose of up and down relative movement of the middle part of the body and the reverse direction of the body, and the relative movement of the two bottom plates can realize the movement of other parts of the body.

Specifically, as shown in FIG. 2 and FIG. 3 , the middle of the lower body bottom plate 20 protrudes upward to form a wing-like structure 21 , which is similar to the downward protruding beam of the upper body bottom plate 10 , and can play a differential role, that is to say , which can make the movement direction of the middle foot and the front and rear feet on the same side completely opposite. There is a semi-open container in the middle of the bottom bottom plate 20 of the body. In order to accommodate the box of the motor, when the bottom bottom plate is made of a material with low Young's modulus (such as plastic), the container can have a certain elastic range and tightly wrap the motor. . The hole in the middle of the bottom plate 10 on the body can be used as an interface for motor connection, and the hole should be smooth enough to allow rotation between the connecting shaft and the bottom plate 10 on the body to ensure the translation of the bottom plate 10 on the body.

Further, in an embodiment of the present invention, the surface of the box-like structure rotates at an angle of less than 180 degrees around the common edge, and is projected in a direction perpendicular to the side surface, so as to become a parallelogram linkage mechanism.

That is to say, the surface of the box-like structure in the embodiment of the present invention can be rotated around the common edge at an angle of less than 180 degrees and projected in a direction perpendicular to the side surface, and the projection of the box-like structure becomes a parallelogram linkage mechanism.

Specifically, as shown in FIG. 4 , the foldable foot 30 can be easily unfolded into a box similar to a cuboid, and in actual manufacturing, the foldable foot 30 can be made of thinner but stronger materials (such as glass fiber). composite material), and engrave a channel at the edge that needs to be folded, and attach a film (such as PET (polyethylene glycol terephthalate, polyethylene terephthalate) film on the other side that needs to be turned), Therefore, the foot can be folded in space, and the channel becomes an edge and is connected by the film, so that the deformation of the foot in three-dimensional space can be realized. In addition, the foot structure is perpendicular to the side projection of the foot box-like structure, and can actually become a parallelogram linkage mechanism.

Further, in an embodiment of the present invention, the foldable foot 30 includes six feet, and the six feet and the lower body bottom plate 20 are adhered by facets, wherein the facets are the outstretched part of the box-like structure.

Optionally, in an embodiment of the present invention, long planes and small planes are used to connect the six feet and the upper bottom plate 10 of the body.

It can be understood that the upper body bottom plate 10 and the lower body bottom plate 20 are not in direct contact, but are connected by the feet. In the embodiment of the present invention, the six feet and the lower body bottom plate 20 can be adhered by using facets, and a long The plane and one facet connect the six feet and the upper body bottom plate 10, wherein the facet plays a role of adhesion, and the facet is the abduction part of the box-like structure.

Further, in an embodiment of the present invention, the single DC motor is connected to the upper body bottom plate 10 through a non-standard shaft sleeve and a thin rod.

That is to say, the single DC motor can be a single small DC motor, and the small DC motor can be connected to the bottom plate 10 on the body through non-standard shaft sleeves and thin rods.

Optionally, in an embodiment of the present invention, the thin rod and the body upper bottom plate 10 rotate relative to each other, wherein the thin rod and the body upper bottom plate 10 are connected by clearance fit between the thin rod and the body cavity or a micro bearing.

That is to say, the thin rod and the body upper bottom plate 10 in the embodiment of the present invention will rotate relative to each other, and the connection method may be a clearance fit between the thin rod and the body cavity, or a miniature bearing may be used.

Further, in one embodiment of the present invention, the center of mass of the bottom plate 10 on the body is driven by a single motor drive structure to move in a circular motion, and the bottom plate itself does not rotate.

It can be understood that, as shown in FIG. 5 , during the movement, the main edges of the upper body bottom plate 10 and the lower body bottom plate 20 are always kept parallel, and only the center of mass has a relative circular motion, that is, the upper body bottom plate 10 is relative to the lower body bottom plate. 20 for circular translation.

For example, as shown in Figure 5, assuming that the motor rotates counterclockwise (or can also be operated clockwise, the working method is the same), the first case is shown by a in Figure 5 (where a is a bottom view), When the center of mass of the upper body bottom plate 10 runs (wherein, the small circle in the figure is the center of mass) to the front half of the circumference, due to the relative movement of the upper body bottom plate 10 and the lower body bottom plate 20, the foot 31, the foot 33 and the foot 35 swings forward, while the foot 32, the foot 34 and the foot 36 swing backward; as shown in b in Figure 5, when the center of mass of the upper bottom plate 10 of the body runs to the rear half of the circumference, the two groups of feet move in opposite directions. change. In the second case, as shown by c in FIG. 5 (where c is a rear view), when the center of mass of the upper body bottom plate 10 runs to the left side of the lower body bottom plate 20, the foot 31, the foot 33 and the foot 35 Press down, and the foot 32, the foot 34 and the foot 36 are lifted upward, and the state at this time is the state of being off the ground in the actual movement; as shown in d in FIG. When running to the right side of the lower bottom plate 20 of the body, the movement directions of the two groups of feet are reversed. Combining the above two situations, when the center of mass of the upper bottom plate 10 of the body runs to the left half of the circumference of the lower bottom plate 20 of the body, the foot 31, the foot 33 and the foot 35 contact the ground. Due to the clockwise movement, these three The positions of the feet all swing backward, that is to say, the actions of the feet 31, 33 and 35 at this time are to press backward, so the ground (wall) provides the robot with a frictional force to move forward, On the other half of the circumference, the foot part 32 , the foot part 34 and the foot part 36 are subjected to the ground friction force.

Further, in an embodiment of the invention, the first layer of the sole is connected to the foot, the first layer and the second layer are connected by a buffer elastic structure to change the height difference, and the third layer is Sticky material for easy attachment.

It can be understood that, as shown in FIG. 6 , the embodiment of the present invention can be made of elastic material, so that the sole of the foot can be opened into a flat surface when it is under pressure, and the contact area between the third layer of adhesive material and the crawling surface can be enlarged. Adhesion, and when the pressure is reduced, the structure re-arches, reducing the contact area, so that the robot foot can be quickly detached. Among them, the structure in FIG. 6 is installed at the end of the foot to become the sole of the foot.

Optionally, in one embodiment of the invention, the size of the robot may be limited to a space of 100 mm square. The specific size of the robot can be set by those skilled in the art according to actual needs, which is not specifically limited here.

It should be noted that the robot 100 in the embodiment of the present invention can also be modified to some extent and expanded. For example, for the feature that the single-degree-of-freedom bionic wall-climbing robot cannot turn, the metal memory alloy traction wires can be added on both sides. The method of inducing the robot to turn, but still adopts the single-motor hexapod gait driving method; the specific structure of the robot's sole structure can be changed to a certain extent, instead of the three-layer structure, using other numbers can still make the sole of the foot function as adhesion The number of layers; or no adhesive material is used, and the driving structure of the embodiment of the present invention is directly used to realize crawling in other positions such as horizontal planes. Those skilled in the art can make changes and expansions according to specific conditions, which are not specifically limited here.

The bionic wall-climbing robot based on the insect triangular gait proposed according to the embodiment of the present invention can be composed of two bottom plates and six feet, and the feet can be folded, and the six-legged cooperative gait can be realized by driving a single motor, thereby effectively Reducing the number of parts and components effectively reduces the volume and quality requirements of the robot, greatly reduces the processing difficulty and manufacturing cost of small robots, thereby achieving the purpose of energy saving and volume reduction, and effectively improving the practicability and applicability of wall-climbing robots.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " Rear, Left, Right, Vertical, Horizontal, Top, Bottom, Inner, Outer, Clockwise, Counterclockwise, Axial, The orientations or positional relationships indicated by "radial direction", "circumferential direction", etc. are based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the indicated devices or elements. It must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as a limitation of the present invention.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically defined.

In the present invention, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between the two elements, unless otherwise specified limit. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In the present invention, unless otherwise expressly specified and limited, a first feature "on" or "under" a second feature may be in direct contact between the first and second features, or the first and second features indirectly through an intermediary touch. Also, the first feature being "above", "over" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

Although the embodiments of the present invention have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and should not be construed as limiting the present invention. Embodiments are subject to variations, modifications, substitutions and variations.

Claims (9)

1. a bionic wall-climbing robot based on insect triangular gait, is characterized in that, comprises: The body upper bottom plate is provided with downwardly extending beam-like structures on both sides of the middle of the body upper bottom plate; a bottom plate of the body, the middle two sides of the bottom plate of the body are provided with upwardly protruding wing-like structures; A foldable foot, the foldable foot is folded into a box-like structure on a plane, and the kinematic joint structure is formed by the common edges between the box-like structure surfaces; A single-motor drive mechanism, the single-motor drive mechanism includes a single DC motor and a corresponding connection part, which is used to drive the upper body plate and the body lower floor to perform relative circular translation, so that the robot can realize a hexapod cooperative gait, Wherein, the beam-like structure and the wing-like structure are used to make the upper and lower relative movement of the middle part of the body of the robot and the reverse movement of the body back and forth, so as to make the foot in the middle part of the body move in the direction of the front and rear feet on the same side quite the opposite; and The sole plate structure is composed of a three-layer plate-like structure and an elastic buffer structure. 2 . The bionic wall-climbing robot based on insect triangular gait according to claim 1 , wherein the surface of the box-like structure rotates at an angle of less than 180 degrees around the common edge, and is perpendicular to the side. 3 . , so as to be a parallelogram linkage. 3 . The bionic wall-climbing robot based on insect triangular gait according to claim 1 , wherein the single DC motor is connected to the upper bottom plate of the body through a shaft sleeve and a thin rod of a non-standard part. 4 . 4. The bionic wall-climbing robot based on insect triangular gait according to claim 3, wherein the thin rod and the upper bottom plate of the body rotate relative to each other, wherein the thin rod and the upper bottom plate of the body rotate relative to each other. The connection method adopts the thin rod and body cavity clearance fit or adopts miniature bearing. 5 . The bionic wall-climbing robot based on insect triangular gait according to claim 1 , wherein the center of mass of the bottom plate on the body is driven by the single-motor drive structure to make a circular motion, and the bottom plate itself does not rotate. 6 . 6 . The bionic wall-climbing robot based on insect triangular gait according to claim 1 , wherein the foldable foot comprises six feet, and a small space is used between the six feet and the lower bottom plate of the body. 7 . Planar adhesions, wherein the facet is the flared portion of the box-like structure. 7 . The bionic wall-climbing robot based on insect triangular gait according to claim 6 , wherein the six legs and the upper bottom plate of the body are connected by a long plane and the small plane. 8 . 8 . The bionic wall-climbing robot based on insect triangular gait according to claim 1 , wherein the first layer of the sole is connected to the foot, and a buffer is used between the first layer and the second layer. 9 . The elastic structure is attached to change the height difference, and the third layer board is a sticky material for easy attachment. 9 . The bionic wall-climbing robot based on insect triangular gait according to claim 1 , wherein the size of the robot is limited to a space of 100 mm square. 10 .

Images