The invention provides a gecko-imitating robot adapting to a non-structural environment. The gecko-imitating robot is composed of a head, a spine, legs, feet and a tail. The spine structure connected with the head is a three-joint pneumatic flexible spine and is formed by alternately arranging soft joints and rigid pieces, and each soft joint is composed of four fiber reinforced drivers. Each leg is composed of a hip joint, a knee joint, an ankle joint and soft toes. The foot is composed of four soft toes, each toe is composed of an upper cavity, a lower cavity and a claw cavity, an adhesion material is laid on the bottom face of the lower cavity, vertical bending and claw grabbing and releasing movement can be achieved through pressurization, and wall climbing movement of different wall faces is completed through the adhesion mechanism of the wall faces with different roughness. The flexible spine of the robot can conform to the transition junction of the ground wall, and therefore movement is flexible. The soft toes with adhesion and claw mechanisms ensure that the robot can be attached to wall surfaces with different roughness, so that the environment adaptability of the robot is relatively high.

    本发明提供了一种适应非结构环境的仿壁虎机器人,由头部、脊柱、腿部、足部以及尾部五部分组成。与头部连接的脊柱结构为三关节气动柔性脊柱,由软体关节及刚性件交替排列构成,每个软体关节由四个纤维增强驱动器构成。每条腿由髋关节、膝关节和踝关节及软体脚趾组成。足部由四个软体脚趾构成,每个脚趾由上下腔体及钩爪腔体构成,下腔体底面铺设黏附材料,通过充压可实现上下弯曲以及钩爪抓取、释放运动,利用不同粗糙度壁面的附着机制,完成不同壁面的爬壁运动。本发明的机器人柔性脊柱且能顺应地壁过渡交界处,因此运动灵活。带有黏附及钩爪机制的软体脚趾保证机器人能够在不同粗糙度壁面附着,使其环境适应性较强。


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    Title :

    Gecko-imitating robot adapting to non-structural environment


    Additional title:

    适应非结构环境的仿壁虎机器人


    Contributors:
    CHEN GUANGMING (author) / LIN TAO (author) / QIAO LONG (author) / ZHOU ZHENWEN (author)

    Publication date :

    2023-06-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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