Ground to wall transition wall gecko-intimating robot

Abstract

The invention relates to a ground wall transition robot imitating a wall lizard, which adopts a manner of crawling on all fours and consists of a mechanical part and a circuit part. The mechanical part comprises a body and four legs, is divided into two parts in a completely symmetric manner with interchangeability; the two parts are connected by sliding part; each joint is driven by steering engine; the position of paw is designed into a damping joint, which provides a fixed position for the paw joint when suspending, and angles can be adjusted according to the condition of the wall surface when adsorbing, so as to adapt to varied conditions of the wall surface; the robot realizes the ground wall transition in a transitional walking manner, and the ground wall transition can be realized by the combined of the pitching action of the body and the change of the foothold position of a single foot; the motion control of the robot adopts a master-slave control structure, wherein, a host computer takes charge of the algorithm operation relevant to the gait planning of the robot, and meanwhile sends out orders to a slave computer at certain frequency, then the slave computer receives the orders of the host computer and makes corresponding responses, thus completing the output of the control information of the driver and sending relevant operation state information of the robot back to the host computer; the host computer and the slave computer are communicated by a 232 serial port.

Description

technical field [0001] The invention relates to a miniature robot-ground wall transition imitation gecko robot, which is mainly used in public and national security fields such as anti-terrorism, rescue, leader protection, special investigation and the like. Background technique [0002] Like a gecko, a gecko-like crawling robot that can crawl on vertical walls and ceilings is one of the most advanced hot issues in the world of bionic robots. [0003] With the continuous expansion of the application range of wall-climbing robots in civil, military, aerospace, etc., higher expectations are put forward for them in terms of performance-automatically realize the distance between intersecting surfaces (such as ground-wall, wall-wall, wall-top, etc.) transition walk. In order to meet this requirement, two test prototypes of wall-climbing robots have emerged in recent years, which can realize transitional walking between ground and wall. The mechanism types are deformed frame type...

AI Technical Summary

Problems solved by technology

[0005] The first generation of imitation gecko robot, the patent application number is 200610114771.9, uses footed crawling, and can realize turning movements through reasonable gait planning, but it is limited to crawling on the ground, and cannot realize the transition from the ground to the wall

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