Multi-mode bionic wall-climbing robot simulating longhorned grasshopper motion form

Abstract

The invention relates to the technical field of robots, in particular to a multi-mode bionic wall-climbing robot simulating a long-horned grasshopper motion form, which comprises a trunk main body, a plurality of foot driving mechanisms are arranged at the lower part of the trunk main body, foot end collaborative attachment mechanisms in contact with a wall surface are arranged on the foot driving mechanisms, a wireless receiver is arranged on the trunk main body. A wireless receiver is used for receiving signals and controlling a plurality of foot driving mechanisms on the trunk main body to be mutually linked, and meanwhile, a foot end collaborative attachment mechanism is controlled to be in contact with or separated from a wall surface, so that climbing or jumping of the robot is realized, and an active regulation and control grabbing attachment-attachment structure and a connecting rod mechanism are innovatively combined; crawling and jumping on various complex wall faces can be achieved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a multi-mode bionic wall-climbing robot imitating the motion form of katydids. Background technique [0002] The vacuum and strong magnetic wall attachment methods used by traditional wall-climbing robots are only suitable for specific application scenarios. For example, vacuum attachment is mainly for smooth and dust-free walls, and it is prone to failure in rough walls or negative pressure environments; strong magnetic adsorption can only be used for In addition, these traditional wall-climbing robots have high energy consumption and high working noise, and it is difficult to achieve miniaturization and light weight, and cannot realize operations in narrow areas. Researchers have developed a series of adhesive and claw-like bionic climbing robots by imitating the special attachment and movement capabilities of geckos, spiders, insects and other creatures. 1. The desorption proc...

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Problems solved by technology

[0004] The technical problem to be solved by the present invention is: in order to overcome the problems in the prior art that the climbing robot has a relatively single attachment mode, poor wall adaptability, and lack of rapid wall jump transition ability, it provides a katydid-like multi- The model bionic wall-climbing robot keeps three legs in the support phase at the same time during the wall-climbing process, and the other three legs are in the suspension phase. The center of gravity of the robot is in the triangle formed by the three support feet; The alternating movements of the rear feet enable the robot to move in all directions on the wall; during the transition process of jumping on the wall, the take-off postures of the forefoot and midfoot are adjusted, and the rear feet use the power modulation of the motor to drive the eight-link series mechanism to stretch and contract to realize the robot in the air. Adjustment of posture and active regulation of contact by wall flexibility

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