CN109334798B - Dry-adhesion hook-claw quadruped-foot paddle-driven multi-robot and its motion method - Google Patents

Abstract

The utility model relates to a multi-robot driven by dry-adhesion hooks and four-wheeled paddles and a movement method thereof, belonging to the field of robots. Its body body includes a front foot support frame (3), N series connected body Z-axis servos, and a rear foot support frame (18); the head and neck structure includes a head Y-axis servo (2) and a camera (1); the tail The structure includes: tail X-axis steering gear (26), tail X-axis steering gear U-shaped connector (27), M serially connected tail Z-axis steering gears, and tail fins (31); the foot structure consists of the foot Y-axis rudder It is composed of a machine, a support block, a support wheel, and a wheel foot paddle. The robot can meet the self-adaptation requirements of unstructured terrain water-land surface in natural environment, and can use dry adhesion to crawl on large-slope walls on smooth surfaces, and can use hooks to crawl large-slope walls on rough surfaces. , a dry-adhesion hook-claw four-wheeled paddle-driven multi-robot and its motion method can be used as an all-terrain multi-roof off-road mobile platform in the natural environment.

Description

Dry-adhesion hook-claw quadruped-foot paddle-driven multi-robot and its motion method

technical field

The invention belongs to the application field of robot technology, and in particular relates to a multi-robot driven by dry-adhering hooks and claw four-wheeled paddles and its bionic motion, which is mainly used as an all-terrain multi-robot mobile platform in natural environment.

Background technique

Robots that adapt to various complex environments on water and land are one of the most cutting-edge topics in the field of robotics research. It integrates mechanics, electronics, computers, materials, sensors, control technology, and artificial intelligence. At the same time, it is also an important symbol of a country's high-tech strength, and developed countries have successively invested heavily in research in this field.

The footed robot can achieve complex ground climbing, and can adjust the combination of front and rear height and low posture movements to meet the requirements of mountain environment movement with higher slopes and enhance the adaptability of mountain environment movement, but at the same time, the walking speed of the footed robot is low. Movement instability is easily caused by the center of gravity. Wheeled robots are more suitable for flat roads and can move at high speed, but are prone to slipping, unstable, and have poor ability to overcome obstacles and terrain. Paddle-driven robots can move on the water surface, but are not suitable for complex ground movements. The bionic robot that simulates the driving mode of fish tail fin can realize free swimming in water, but it is not suitable for moving on complex ground. How to concentrate the advantages of various robots and make up for the shortcomings is a current research hotspot. By studying the biological characteristics of nature, we found that crocodiles are amphibians, which can swim with their bodies and tails in the water, and can crawl on the shore with all fours; the giant geckos with dry adhesion movement ability belong to the reptiles, which can be used on complex ground and walls. It is of great research significance and engineering value to design a multi-living bionic robot that can crawl freely on the surface and combine the advantages of the two bionic objects.

Comparing the well-known wheel-foot combination robots at home and abroad, the "X-RHexLite" developed by The University of Michigan, McGill University, University of California and other research institutions is a wheel-foot combination robot (https://www.grasp .upenn.edu/projects/x-rhex-lite-xrl), it can jump biped, quadruped, hexapod, and can jump continuously. Different effects can be achieved through different jump modes, such as jumping grooves, climbing low walls, or 180° jumping and turning over, or even moving on rocky ground, and you can also swim in the water with paddle legs. Boston Dynamics' RISE robot is a vertical crawling robot that uses hooks and legs to drive. The robot has small claws on its feet to facilitate it to firmly grasp on rough ground (Saunders A, Goldman D I, Full R J, et al. . The rise climbing robot: body andleg design[C]. Georgia Institute of Technology, 2006). The new arthropod robot (http://www.liuti.cn/News/117741.html) designed by the Special Robot Science and Technology Innovation Team of Beijing Institute of Technology adopts the combined driving method of legs and wheels, and has a certain ability to climb stairs. The Ant Moon Rover of Southeast University is a bionic wheel-legged robot (http://news.longhoo.net/index/content/2016-04/23/content_28380.html), which adopts a distributed sensor control system and has It has a certain ability to overcome obstacles, and can walk in mountains, ice and snow and other environments, and has good adaptability. The gecko wheel-foot composite wall-climbing robot developed by the Institute of Advanced Manufacturing Technology, Hefei Institute of Physical Science, Chinese Academy of Sciences uses adhesion, crawler and foot drive to achieve smooth wall crawling (http://mil.huanqiu.com/china /2013-09/4341264.html).

A single wheel-foot, foot-hook, adhesive track and other robots have limited functions, and a multi-robot driven by a wheel-foot paddle with dry adhesion and hook claws and its bionic movement mode have not been reported, and no research has been carried out.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a kind of land cross-country climbing motion function that can meet the non-structural terrain water surface-land surface self-adaptation requirements in natural environment, and can use dry adhesion to perform large-slope wall crawling on smooth surfaces at the same time. At the same time, the hook claw can be used to crawl on the large slope wall on the rough surface, and it can be used as a dry-adhesion hook claw four-wheeled paddle-driven multi-robot robot and its motion method for an all-terrain multi-perch off-road mobile platform in the natural environment.

A multi-robot driven by dry-adhering hooks and claws and four-wheeled paddles is characterized in that: it includes a main body structure, a head and neck structure, a tail structure and four foot structures; it also includes a battery and a control circuit board. The main body structure includes, from front to back, a front foot support frame, N body Z-axis steering gears connected in series, and a rear foot support frame, where 3≤N≤6; the first body Z-axis steering gear from front to back It is called the first body Z-axis steering gear, and the last body Z-axis steering gear is called the Nth body Z-axis steering gear; the body Z-axis steering gear is connected by the steering gear U-shaped connector, and the rear of the U-shaped connector is connected. The end is fixed with the output shaft of the rear body Z-axis steering gear, and the front end of the U-shaped connector is fixed with the front body Z-axis steering gear body; the rear end of the forefoot support frame is connected to the output of the first body Z-axis steering gear. The axes are fixed; the front end of the rear foot support frame is fixed with the body of the Z-axis steering gear of the Nth body.

The head and neck structure includes a head Y-axis steering gear and a camera; wherein the output shaft of the head Y-axis steering gear is fixed with the front end of the forefoot support frame, and the camera is fixed on the head Y-axis steering gear body.

The tail structure sequentially includes from front to back: tail X-axis steering gear, tail X-axis steering gear U-shaped connector, M tail Z-axis steering gears and tail fins in series in sequence, where 2≤M≤4; The first tail Z-axis steering gear is called the first tail Z-axis steering gear, and the last tail Z-axis steering gear is called the M-th tail Z-axis steering gear; the tail Z-axis steering gear is U-shaped through the steering gear. The connector is connected, the rear end of the U-shaped connector is fixed with the output shaft of the rear tail Z-axis steering gear, the front end of the U-shaped connector is fixed with the front tail Z-axis steering gear body; the tail X-axis steering gear rotates The output end and the rear end of the rear foot support frame are fixed along the X-axis, the other end of the tail X-axis servo is fixed with the U-shaped connector of the tail X-axis servo; the rotation output end of the first tail Z-axis servo is connected to the tail X-axis The U-shaped connector of the steering gear is fixed along the Z-axis, and the tail fin is fixed with the Z-axis steering gear body of the M-th tail.

The foot structure is composed of a foot Y-axis steering gear, a support block, a support wheel, and a wheel foot paddle; the center of the wheel foot paddle is fixedly installed on the rotating output end of the foot Y-axis steering gear, and the foot Y-axis steering gear It is fixed on the end of the front foot support frame or the rear foot support frame, the support block is fixed on the lower end of the corresponding support frame, and the support wheel is installed on the support block in the way of pin connection along the Y axis.

The described dry-adhesion hook claw four-wheel foot paddle-driven multi-robot robot is characterized in that: the above-mentioned wheel foot paddles include a center wheel, and also include 3-5 paddle arms that are evenly installed around the center wheel; the paddle arm ends, Install the paddles on one side, the hooks on the other, and dry-adhesive material on the outside of the paddles.

The method for moving a multi-dwelling robot driven by a dry-adhesion hook and claw four-wheeled paddle is characterized in that: a right-middle-left movement mode is sequentially realized in the horizontal direction through the tail fin, combined with the reciprocating cycle motion control, the bionic robot is realized Simulate the horizontal reciprocating swing of the tail fin, push the water flow, and realize the forward swimming mode of the tail fin. Towards the overall flexible swimming mode; through the vertical direction of the tail fin to achieve the upper-middle-down movement mode, combined with the reciprocating cycle motion control, the bionic robot simulates the vertical reciprocating swing of the tail fin, pushing the water flow, and realizing the upper and lower tail fin swimming mode; through the tail fin The vertical reciprocating swing and the horizontal reciprocating swing of the body enable the bionic robot to move forward and up and down in the water, and adjust the left and right thrust combined with the continuous rotational motion of the wheel foot paddle to control the direction; the hook claw structure of the wheel foot paddle adapts to complex rough surface movements , the dry-adhesive material structure adapts to smooth surface movement, and the support wheel adapts to fast movement on a flat surface. The wheel-foot paddle four-wheel drive structure with 3-5 blades can make the bionic robot adapt to the complex land environment and have superior off-road performance.

Compared with the prior art, the present invention has the following advantages:

1. The present invention can realize the movement of multi-robots in water, rough land, rough or smooth walls, and has superior multi-robot movement ability and strong environmental adaptability.

2. The structure of the present invention is simple, the movement principle is clear, and the movement realization is convenient.

3. The dry adhesive material in the present invention can make the multi-robot move smoothly on a smooth surface (eg glass) with a very small friction coefficient.

4. The use of the hook method in the present invention enables the multi-robot to climb a slope relatively smoothly on a surface with a high friction coefficient (such as a rock).

5. The invention has the advantages of ingenious structure, small size, light weight, convenient processing and economic feasibility, and can provide a solution for the all-terrain off-road mobile platform of water surface-land-wall surface in natural environment.

The described dry-adhesion hook-claw four-wheeled paddle-driven multi-robot is characterized in that: the wheel-foot paddle on the left side of the main body structure and the wheel-foot paddle on the right side are axially symmetrical along the body; The structure of the left rear wheel foot paddle is the same; the right front wheel foot paddle and the right rear wheel foot paddle have the same structure. The symmetrical structure design has the advantages of simple structure and clear movement principle, which is beneficial to the movement stability of the multi-habitat robot.

The described dry-adhesion hook claw four-wheeled foot paddle-driven multi-robot is characterized in that: the support block installed at the lower end of the front foot support frame is a fixed pulley support block, and the support block installed at the lower end of the rear foot support frame is To the wheel support block. The structure is suitable for horizontal ground movement, and adopts the structure of forward fixed pulley and rearward universal wheel, and can achieve fast and effective movement on smooth horizontal surface with body twisting.

The dry-adhesion hook claw four-wheeled and paddle-driven multi-robot is characterized in that: the above-mentioned N=4, M=2. On the basis of satisfying the flexibility of the body, the parameter structure reduces the difficulty of motion control, and can better satisfy various bionic motion modes of the multi-habitable robot.

Description of drawings

1 is a general view of a multi-robot driven by a dry-adhesion hook four-wheeled paddle of the present invention;

2 is an exploded schematic diagram of a multi-dwelling robot driven by a dry-adhesion hook four-wheeled paddle of the present invention;

3 is an exploded schematic diagram of the right wheel foot paddle of a dry-adhesion hook four-wheel foot paddle-driven multi-robot of the present invention;

4 is an exploded schematic diagram of the left wheel foot paddle of a multi-robot driven by a dry-adhesion hook four-wheel foot paddle of the present invention;

5 is a schematic diagram of the horizontal swing movement of the caudal fin to the right of a multi-dwelling robot driven by a dry-adhesion hook four-wheeled paddle of the present invention;

6 is a schematic diagram of the middle horizontal swing movement of the caudal fin of a multi-robot driven by a dry-adhesion hook four-wheeled paddle of the present invention;

7 is a schematic diagram of the leftward horizontal swing movement of the caudal fin of a multi-robot driven by a dry-adhesion hook four-wheeled paddle of the present invention;

8 is a schematic diagram of the movement of the caudal fin and the body in a horizontal swing state 1 of a multi-robot driven by a dry-adhesion hook four-wheeled paddle of the present invention;

9 is a schematic diagram of the movement of the caudal fin and the body in a horizontal swing state 2 of a multi-robot driven by a dry-adhesion hook four-wheeled paddle of the present invention;

10 is a schematic diagram of the vertical swing upward movement of the caudal fin of a multi-robot driven by a dry-adhesion hook four-wheeled paddle of the present invention;

Figure 11 is a schematic diagram of the vertical swing middle motion of the tail fin of a multi-robot driven by a dry-adhesion hook four-wheeled paddle of the present invention;

12 is a schematic diagram of the vertical swing downward movement of the caudal fin of a multi-robot driven by a dry-adhesion hook four-wheeled paddle of the present invention;

13 is a schematic diagram of the horizontal-vertical swing compound motion of the body and the tail fin of a dry-adhesion hook four-wheeled paddle driven multi-robot of the present invention;

Label names in Figure 1-13: 1. Camera; 2. Head Y-axis steering gear; 3. Front foot support frame; 4. Left front wheel Y-axis steering gear; 5. Right front wheel Y-axis steering gear; 6. Left front wheel support block; 7. Right front wheel support block; 8. Left front support wheel; 9. Right front support wheel; 10. Battery; 11. Body Z-axis first steering gear; 12. Body Z-axis No. 1 A U-shaped connector for the steering gear; 13. The second steering gear on the Z-axis of the body; 14. The U-shaped connector for the second steering gear on the Z-axis of the body; 15. The third steering gear on the Z-axis of the body; 16. The Z-axis of the body U-shaped connector to the third steering gear; 17. The fourth steering gear in the Z-axis of the body; 18. The rear foot support frame; 19. The Y-axis steering gear of the left rear wheel; 20. The Y-axis steering gear of the right rear wheel; 21. Left rear universal wheel support block; 22. Right rear universal wheel support block; 23. Left rear support wheel; 24. Right rear support wheel; 25. Control circuit board; 26. Tail X-axis steering gear; 27 , U-shaped connector for the X-axis steering gear of the tail; 28. The first steering gear in the Z-axis of the tail; 29. U-shaped connector for the first steering gear in the Z-axis of the tail; 30. The second steering gear in the Z-axis of the tail; 31 , tail fin; 32, right wheel foot paddle; 33, right wheel foot paddle hook; 34, right wheel foot paddle dry adhesion material; 35, left wheel foot paddle; 36, left wheel foot paddle hook 37. Left wheel foot paddle dry adhesion material; L1, left front wheel foot paddle; L2, left rear wheel foot paddle; R1, right front wheel foot paddle; R2, right rear wheel foot paddle. Among them, X, Y, and Z are the corresponding three-dimensional space coordinate systems.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments:

1-13, the present embodiment is a multi-robot driven by dry-adhesive hooks and four-wheeled paddles and its bionic motion, including a camera 1, a head Y-axis steering gear 2, a front foot support frame 3, a left Front wheel Y-axis steering gear 4, right front wheel Y-axis steering gear 5, left front wheel support block 6, right front wheel support block 7, left front support wheel 8, right front support wheel 9, battery 10, body Z axis The first steering gear 11, the first steering gear U-shaped connector 12 on the body Z axis, the second steering gear 13 on the body Z axis, the second steering gear U-shaped connector 14 on the body Z axis, and the third steering gear on the body Z axis Steering gear 15, body Z-axis third steering gear U-shaped connector 16, body Z-axis fourth steering gear 17, rear foot support frame 18, left rear wheel Y-axis steering gear 19, right rear wheel Y-axis Steering gear 20, left rear universal wheel support block 21, right rear universal wheel support block 22, left rear support wheel 23, right rear support wheel 24, control circuit board 25, tail X-axis steering gear 26, tail X-axis The U-shaped connector 27 of the steering gear, the first steering gear 28 in the Z axis of the tail, the U-shaped connector 29 of the first steering gear in the Z axis of the tail, the second steering gear 30 in the Z axis of the tail, the tail fin 31, and the right wheel foot Paddle 32, right wheel foot paddle hook 33, right wheel foot paddle dry adhesion material 34, left wheel foot paddle 35, left wheel foot paddle hook 36, left wheel foot paddle dry adhesion material 37, Left front wheel foot paddle L1, left rear wheel foot paddle L2, right front wheel foot paddle R1, right rear wheel foot paddle R2.

2, the present embodiment is a multi-robot driven by dry-adhesive hooks and four-wheeled paddles and its bionic motion, including a camera 1, a head Y-axis steering gear 2, a front foot support frame 3, a left front Wheel Y-axis steering gear 4, right front wheel Y-axis steering gear 5, left front wheel foot paddle L1 and right front wheel foot paddle R1. The rotation output end of the head Y-axis steering gear 2 and the front end of the forefoot support frame 3 are fixed along the Y-axis, the camera 1 is fixed on the head Y-axis steering gear 2 along the X-axis; the left front wheel Y-axis is rotated on the steering gear 4 The output end is fixedly connected with the center of the left front wheel foot paddle L1, the right front wheel Y-axis steering gear 5 is rotated and the output end is fixedly connected with the center of the right front wheel foot paddle R1; the left front wheel Y-axis steering gear 4 is fixed on the front foot support frame The upper left end of 3 and the Y-axis steering gear 5 of the right front wheel are fixed on the upper right end of the front foot support frame 3 .

2 , the present embodiment is a multi-robot driven by dry-adhesion hooks and four-wheeled paddles and its bionic motion, including a left front wheel support block 6, a right front wheel support block 7, a left front support wheel 8, Right front support wheel 9, battery 10. The left front wheel support block 6 is connected with the left front support wheel 8 along the Y axis pin, the right front wheel support block 7 is connected with the right front support wheel 9 along the Y axis pin; the left front wheel support block 6 is fixed on the lower left of the front foot support frame 3 The right front wheel support block 7 is fixed on the lower right end of the forefoot support frame 3 ; the battery 10 is fixed directly above the forefoot support frame 3 .

2, the present embodiment is a multi-robot driven by dry-adhesive hooks and four-wheeled paddles and its bionic motion, including a first steering gear 11 in the Z-axis of the body, and a first steering gear U in the Z-axis of the body. Type connector 12, body Z axis to the second steering gear 13, body Z axis to the second steering gear U-shaped connector 14, body Z axis to the third steering gear 15, body Z axis to the third steering gear U-shaped connection Part 16, the fourth steering gear 17 in the Z axis of the body. The rotation output end of the first steering gear 11 in the Z axis of the body is fixed along the Z axis with the rear end of the forefoot support frame 3. The other end of the first steering gear 11 in the Z axis of the body is connected to the U-shaped connector 12 of the first steering gear in the Z axis of the body. Fixed; the body Z axis of the second steering gear 13 rotates the output end and the body Z axis of the first steering gear U-shaped connector 12 is fixed along the Z axis, the body Z axis of the other end of the second steering gear 13 and the body Z axis The U-shaped connector 14 of the second steering gear is fixed; the Z axis of the body is fixed along the Z axis of the third steering gear 15 and the output end of the rotation of the third steering gear 15 and the U-shaped connector 14 of the second steering gear in the Z axis are fixed along the Z axis, and the Z axis of the body is the third steering gear 15 The other end is fixed to the U-shaped connector 16 of the third steering gear in the Z-axis of the body; the rotation output end of the fourth steering gear 17 in the Z-axis of the body is fixed to the U-shaped connector 16 of the third steering gear in the Z-axis of the body along the Z-axis. The other end of the fourth steering gear 17 in the Z axis of the body is fixed to the front end of the rear foot support frame 18 .

2, the present embodiment is a multi-robot driven by dry-adhesive hooks and four-wheeled paddles and its bionic motion, including a rear foot support frame 18, a left rear wheel Y-axis steering gear 19, a right rear wheel Y-axis steering gear 20, left rear universal wheel support block 21, right rear universal wheel support block 22, left rear support wheel 23, right rear support wheel 24, control circuit board 25, left rear wheel foot paddle L2 and right Rear wheel foot paddle R2. The rotation output end of the left rear wheel Y-axis steering gear 19 is fixedly connected to the center of the left rear wheel foot paddle L2, and the right rear wheel Y-axis steering gear 20 is fixedly connected to the center of the right rear wheel foot paddle R2. The axial steering gear 19 is fixed to the upper left end of the rear foot support frame 18 , and the Y-axis steering gear 20 of the right rear wheel is fixed to the upper right end of the rear foot support frame 18 . The left rear universal wheel support block 21 and the left rear support wheel 23 are connected with pins along the Y axis, and the right rear universal wheel support block 22 and the right rear support wheel 24 are connected with pins along the Y axis; the left rear universal wheel support block 21 It is fixed on the lower left end of the rear foot support frame 18 , the right rear universal wheel support block 22 is fixed on the lower right end of the rear foot support frame 18 , and the control circuit board 25 is fixed directly above the rear foot support frame 18 .

2 , the present embodiment is a multi-robot driven by dry-adhesive hooks and four-wheeled paddles and its bionic motion, including a tail X-axis steering gear 26 and a tail X-axis steering gear U-shaped connector 27 , The tail Z-axis is the first steering gear 28 , the tail Z-axis is the first steering gear U-shaped connector 29 , the tail Z-axis is the second steering gear 30 , and the tail fin 31 . The rotation output end of the tail X-axis steering gear 26 is fixed along the X-axis with the rear end of the rear foot support frame 18, and the other end of the tail X-axis steering gear 26 is fixed with the tail X-axis steering gear U-shaped connector 27; The rotation output end of the first steering gear 28 is fixed along the Z-axis with the U-shaped connector 27 of the tail X-axis steering gear, and the other end of the tail Z-axis of the first steering gear 28 and the tail Z-axis of the first steering gear U-shaped connector 29 Fixed; the Z-axis of the tail is fixed along the Z-axis of the second steering gear 30 and the output end of the rotation of the second steering gear 30 and the U-shaped connector 29 of the first steering gear in the Z-axis of the tail.

2 , 3 and 4 , the present embodiment is a multi-robot driven by dry-adhesion hooks and four-wheeled paddles and its bionic motion, including a right wheel-foot paddle 32 , a right wheel-foot paddle hook Claw 33, right wheel foot paddle dry adhesion material 34, left wheel foot paddle 35, left wheel foot paddle hook 36, left wheel foot paddle dry adhesion material 37, left front wheel foot paddle L1, left rear paddle Wheel foot paddle L2, right front wheel foot paddle R1, right rear wheel foot paddle R2. The left front wheel foot paddle L1 and the left rear wheel foot paddle L2 have the same structure; the right front wheel foot paddle R1 and the right rear wheel foot paddle R2 have the same structure.

3 , the present embodiment is a multi-robot driven by dry-adhesion hooks and four-wheeled paddles and its bionic motion, including a right wheel-foot paddle 32 , a right-hand wheel-foot paddle hook 33 , a right wheel paddle Foot paddle dry adhesion material 34 . The right wheel foot paddle 32 has 3 paddles evenly distributed, one side of each paddle is fixed with the right wheel foot paddle hook 33, and the top of each paddle is fixed with the right wheel foot paddle dry adhesion material 34 to This constitutes the right front wheel foot paddle R1.

4, the present embodiment is a multi-robot driven by dry-adhesion hooks and four-wheeled paddles and its bionic motion, including a left wheel foot paddle 35, a left wheel foot paddle hook 36, a left wheel foot paddle 36, and a left wheel foot paddle. Foot paddle dry adhesion material 37. The left wheel foot paddle 35 has 3 paddles evenly distributed, one side of each paddle is fixed with the left wheel foot paddle hook 36, and the top of each paddle is fixed with the left wheel foot paddle dry adhesion material 37 to This constitutes the left front wheel foot paddle L1.

5 , 6 and 7 , this embodiment is a multi-robot driven by a dry-adhesion hook and claw four-wheeled paddle and its bionic motion, wherein the right-middle-left movement is realized in the horizontal direction through the tail fin. The movement mode, combined with the reciprocating cycle motion control, can realize the horizontal reciprocating swing of the caudal fin simulated by the bionic robot, promote the water flow, and realize the forward caudal fin swimming mode.

8 and 9, the present embodiment is a multi-robot driven by dry-adhesion hooks and four-wheeled paddles and its bionic motion, wherein the movement mode of left and right reciprocating swinging in the horizontal direction is realized sequentially through the tail fin and the body, The bionic robot can simulate the horizontal reciprocating swing of the tail fin and the body, push the water flow, and realize the forward overall flexible swimming mode.

10 , 11 and 12 , this embodiment is a multi-robot driven by dry-adhesion hooks and four-wheeled paddles and its bionic motion, in which the upper-middle-lower movement is realized in the vertical direction through the caudal fin. The motion mode, combined with the reciprocating cycle motion control, can realize the vertical reciprocating swing of the caudal fin simulated by the bionic robot, push the water flow, and realize the swimming mode of the upper and lower caudal fins.

13 , the present embodiment is a multi-robot driven by dry-adhesive hooks and claws and four-wheeled paddles and its bionic motion, wherein the vertical reciprocating swing of the tail fin and the horizontal reciprocating swing of the body can realize the bionic robot in the water. Forward and up and down movements, combined with the continuous rotation of the wheel foot paddle to adjust the left and right thrust, so as to control the direction. The hook structure of the wheel-foot paddle can realize complex rough surfaces, the dry-adhesive material structure can adapt to smooth surfaces, and the four support wheels at the bottom can achieve fast movement on a plane. The wheel-foot paddle four-wheel drive structure with three blades can be The bionic robot adapts to the complex land environment and has superior off-road performance.

Claims (5)

1. a multi-robot driven by a dry-adhesion hook four-wheeled paddle, is characterized in that: It includes the main body structure, the head and neck structure, the tail structure and the four foot structures; it also includes a battery (10) and a control circuit board (25); The aforesaid main body structure includes, from front to back, a front foot support frame (3), N body Z-axis steering gears connected in series in sequence, and a rear foot support frame (18), where 3≤N≤6; The Z-axis steering gear is called the first body Z-axis steering gear, and the last body Z-axis steering gear is called the Nth body Z-axis steering gear; the body Z-axis steering gear is connected by the steering gear U-shaped connector, the U-shaped steering gear The rear end of the connecting piece is fixed with the output shaft of the rear body Z-axis steering gear, and the front end of the U-shaped connecting piece is fixed with the front body Z-axis steering gear body; the rear end of the forefoot support frame (3) is connected to the first The output shaft of the body Z-axis steering gear is fixed; the front end of the rear foot support frame (18) is fixed with the body of the Nth body Z-axis steering gear (17); The above-mentioned head and neck structure includes a head Y-axis steering gear (2) and a camera head (1); wherein the output shaft of the head Y-axis steering gear (2) is fixed with the front end of the forefoot support frame (3), and the camera head (1) Fixed on the head Y-axis steering gear (2) body; The above-mentioned tail structure sequentially includes from front to back: a tail X-axis steering gear (26), a tail X-axis steering gear U-shaped connector (27), M tail Z-axis steering gears connected in series in sequence, and a tail fin (31), wherein 2≤M≤4; the first tail Z-axis steering gear from front to back is called the first tail Z-axis steering gear, and the last tail Z-axis steering gear is called the M-th tail Z-axis steering gear; among which the tail Z-axis steering gear The motors are connected by the U-shaped connector of the steering gear. The rear end of the U-shaped connector is fixed to the output shaft of the rear Z-axis steering gear, and the front end of the U-shaped connector is fixed to the front tail Z-axis steering gear body. ;The rotating output end of the tail X-axis steering gear (26) and the rear end of the rear foot support frame (18) are fixed along the X-axis, and the other end of the tail X-axis steering gear (26) is connected to the tail X-axis steering gear U-shaped connector (27) Fixed; the rotary output end of the first tail Z-axis steering gear and the tail X-axis steering gear U-shaped connector (27) are fixed along the Z-axis, and the tail fin is fixed with the M-th tail Z-axis steering gear body; The above-mentioned foot structure is composed of a foot Y-axis steering gear, a support block, a support wheel, and a wheel foot paddle; the center of the wheel foot paddle is fixedly installed on the rotating output end of the foot Y-axis steering gear, and the foot Y-axis steering gear is fixed. At the end of the front foot support frame or the rear foot support frame, the support block is fixed on the lower end of the corresponding support frame, and the support wheel is installed on the support block along the Y axis in a pin connection manner; The above-mentioned wheel foot paddle includes a center wheel, and also includes 3-5 paddle arms evenly installed around the center wheel; at the end of the paddle arm, a paddle is installed on one side, a hook is installed on the other side, and a dry adhesive material is installed on the outside of the paddle. 2. the multi-robot driven by the dry adhesion hook four-wheeled paddle according to claim 1, is characterized in that: Described wheel foot paddle is characterized in that: the wheel foot paddle on the left side of the main body structure and the wheel foot paddle on the right side are symmetrical along the body axis; the left front wheel foot paddle and the left rear wheel foot paddle have the same structure; The structure of the paddle is the same as that of the right rear wheel foot paddle. 3. the multi-robot driven by the dry adhesion hook four-wheeled paddle according to claim 1, is characterized in that: The support blocks are fixed pulley support blocks installed at the lower end of the front foot support frame, and universal wheel support blocks installed at the lower end of the rear foot support frame. 4. the multi-robot driven by the dry adhesion hook four-wheeled paddle according to claim 1, is characterized in that: The above N=4, M=2. 5. the motion method of the multi-robot driven by the dry-adhesion hook four-wheeled paddle according to claim 1, is characterized in that: The caudal fin (31) is used to realize the right-middle-left movement in the horizontal direction in sequence, and combined with the reciprocating cyclic motion control, the bionic robot can simulate the horizontal reciprocating swing of the caudal fin, push the water flow, and realize the forward swimming mode of the caudal fin; Through the horizontal reciprocating swing of the tail fin and the body in sequence, the bionic robot can simulate the horizontal reciprocating swing of the tail fin and the body, promote the water flow, and realize the overall flexible swimming mode in the forward direction; Through the vertical direction of the tail fin to achieve the up-middle-down movement mode, combined with the reciprocating cycle motion control, the bionic robot can simulate the vertical reciprocating swing of the tail fin, push the water flow, and realize the upper and lower tail fin swimming mode; Through the vertical reciprocating swing of the tail fin and the horizontal reciprocating swing of the body, the bionic robot can move forward and up and down in the water, and adjust the left and right thrust combined with the continuous rotation of the wheel foot paddle to control the direction; The hook structure of the wheel foot paddle is suitable for complex rough surface movement, the dry adhesion material structure is suitable for smooth surface movement, and the support wheel is suitable for fast movement on a plane.

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