Robot feet and legs combined with dry adhesion and hooks, and robot and motion method

Abstract

The present invention relates to a robot foot and leg combined with a dry adhesion and hook claw, a robot and a movement method, and belongs to the technical field of robot application. The machine foot includes a damping and shock-absorbing telescopic sleeve (9), a damping and shock-absorbing telescopic rod (10), a shock-absorbing spring (15), and N hook paws (11) symmetrically installed at the lower part of the damping and shock-absorbing telescopic rod (10); The upper end of the damping and shock-absorbing telescopic rod (10) is installed in the damping and shock-absorbing telescopic sleeve (9), and the shock-absorbing spring (15) is installed in the damping and shock-absorbing telescopic sleeve (9) and between the upper end of the damping and shock-absorbing telescopic rod (10). The above-mentioned hook pawl (11) consists of an elastic sole surface (11-1), a fixed hook (11-2), and M pieces of dry adhesive material (11-3). The invention simulates the action mechanism of insect dry adhesion and hook claw, adapts to smooth and rough surfaces at the same time, and realizes the self-adaptive and stable adhesion function when the robot foot and the ground force act.

Description

technical field [0001] The invention belongs to the technical field of robot application, and in particular relates to a robot foot and leg combined with a dry adhesion and hook claw, and a robot and a movement method, which is mainly used as a non-structural terrain moving platform in a natural environment. Background technique [0002] Robots that adapt to various terrestrial complex environments 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 and other disciplines. The research level of intelligence and automation is also an important symbol of a country's high-tech strength. Developed countries have successively invested heavily in research in this field. [0003] There are four main forms of foot end of the foot robot: flat-bottomed foot end, cylindrical foot end (including semi-cylindrical foot end), spherical foot end (includin...

AI Technical Summary

Problems solved by technology

The advantage of the flat-bottomed foot is that it has a large contact area with the ground, good contact with the ground and is not easy to slip. The disadvantage is that the foot needs to be designed to be flexible in order to adapt to different terrain changes and ensure good contact. The connection mechanism greatly increases the control difficulty of the legged robot; the cylindrical foot end (including the semi-cylindrical foot end) is a line when in contact with the hard ground, and the contact with the soft ground is similar to a "wheel", and the advantage is that it is in contact with the ground Strong capacity and good load-bearing performance, but the disadvantage is that it is easy to slip and not stable; the spherical foot end (including the hemispherical foot end) is point contact when it is in contact with the hard ground, and it is easy to cause the foot end of the legged robot to be damaged. Insufficient friction and slippery; irregular foot end is more common with bionic foot end, which is designed according to the foot-legged animal in the biological world, which has the advantage of unique propulsion ability in a specific ground environment, but the rigid irregular foot end has great limitations

[0005] So far, the single bionic foot end of the legged robot has limited functions such as foot hook and adhesion, and a robot foot and leg with a combination of dry adhesion and hook claw, and the robot and movement method have not been reported, nor have they been developed. researched

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