Claw type five-legged wall-climbing robot and its motion gait method

Abstract

The invention discloses a claw-type five-legged wall-climbing robot and a locomotive gait method thereof and belongs to the technical field of climbing robots. The claw-type five-legged wall-climbing robot comprises a robot body plate (8), leg joints (5), a steering engine control panel (6), a tail (9), a battery (7), foot end structures (3) and is characterized in that each foot end structure (3) comprises a foot joint base body (11) and flexible sole base bodies (15); the rear ends of the flexible sole base bodies (15) are mounted on the foot joint base bodies (11) through sole connecting frames (14), wherein the sole connecting frames (14) can rotate around hinged holes connected with the foot joint base bodies (11) so as to adjust the angles of the flexible sole base bodies (15) and the contact faces; and the flexible sole base bodies (15) are distributed circumferentially along the foot joint base bodies (11), a plurality of protruding flexible rectangular strips are arranged at the front end of each flexible sole base body, and a claw (16) is mounted at the tail end of each flexible rectangular strip. The robot can achieve grabbing and climbing on the rough vertical faces and inverted faces and other behavior.

Description

technical field [0001] The invention relates to the technical field of climbing robots, in particular to a claw-type five-legged wall-climbing robot and its movement gait method. technical background [0002] For most terrains in nature, wall-climbing robots are required to have the ability to crawl on vertical surfaces as well as grasp and crawl on inverted surfaces. For example, special terrains such as the walls of Martian lava tubes during planetary exploration require the Mars rover to have the ability to crawl on the inverted surface before it can conduct surveys and other activities. At present, the research on wall-climbing robots with hooks and claws that can crawl on vertical surfaces is very mature at home and abroad, but the research on wall-climbing robots that can crawl on both vertical surfaces and inverted surfaces such as ceiling surfaces is not yet complete. a lot of. [0003] At present, the main claw-type wall-climbing robot of the Hefei Institute of In...

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Problems solved by technology

At present, the research on wall-climbing robots with hooks and claws that can crawl on vertical surfaces is very mature at home and abroad, but the research on wall-climbing robots that can crawl on both vertical surfaces and inverted surfaces such as ceiling surfaces is not yet complete. a lot of

[0003] At present, the main claw-type wall-climbing robot of the Hefei Institute of Intelligence, Chinese Academy of Sciences (Liu Yanwei. Research on the bionic mechanism and system of the claw-type wall-climbing robot [D]. Hefei: University of Science and Technology of China, 2015.), the robot can be realized in the rough Inverted and vertical brick wall movement, but as a 2-legged gripping robot, the size is small, the climbing environment is single, and the load is also low

The most famous abroad is the LEMUR IIB robot (Parness A, Frost M, Thatte N, et al. Gravity‐independent Rock‐climbing Robot and a Sample Acquisition Tool with Microspine Grippers) developed by JPL (Jet Propulsion Laboratory) in the United States[J]. Journal of Field Robotics, 2013, 30(6):897-915.), this robot realizes the movement on the inverted rough surface for the 4-leg claw wall-climbing robot, but the size is relatively large, and the manufacturing process of the claw feet is very complicated. Easy to implement, while the leg structure is complex and the climbing stability is not good

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