The embodiment of the invention provides a bionic gecko robot which comprises a robot body provided with four crawling feet, and each crawling foot comprises an upper leg joint, a middle leg joint and a lower leg joint which are connected in sequence; a plurality of first cavities in the upper leg joint, a plurality of second cavities in the middle leg joint, a plurality of third cavities in the lower leg joint and a fourth cavity at the tail end are communicated through air channels and connected with an air source through an air inlet in the end of the upper leg joint, and a proportional valve is arranged on a pipeline connected with the air source and used for adjusting air pressure. The first chamber is thin in upper wall and thick in lower wall; the second cavity is thin in front wall and thick in rear wall; the lower wall surface of the fourth chamber is arc-shaped; the lower leg joint bends downwards in an arc shape, and the tail end face of the lower leg joint is an adsorption face; the three leg joints are made of flexible materials with different elastic moduli, and the elastic moduli of the upper leg joint, the middle leg joint and the lower leg joint are sequentially reduced. According to the robot, the crawling feet are of a full-flexible structure, the structure is simple, the passing ability is good, and control and implementation are easy.
本申请实施例提供一种仿生壁虎机器人,包括设有四条爬行足的机器人本体,爬行足包括依次相连的上腿关节、中间腿关节和下腿关节;上腿关节内的多个第一腔室、中间腿关节内的多个第二腔室、下腿关节内的多个第三腔室及末端的第四腔室通过气道连通,并通过上腿关节端部的进气口连接气源,在连接气源的管路上设有比例阀,用以调节气压;第一腔室上壁薄、下壁厚;第二腔室前壁薄,后壁厚;第四腔室下壁面呈弧形;下腿关节弧形下弯,下腿关节末端端面为吸附面;三个腿关节由不同弹性模量的柔性材料制成,且上腿关节、中间腿关节和下腿关节弹性模量依次减小。本发明中,爬行足为全柔性结构,结构简单,通过性好,控制实现简单。
Bionic gecko robot and control method thereof
一种仿生壁虎机器人及其控制方法
2023-01-17
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Bionic crawling robot and autonomous control method thereof
European Patent Office | 2021
|