A robot high-adaptability foot based on dry adhesion and hook attachment

Abstract

The application discloses a robot high-adaptability foot based on dry adhesion and hook and spike adhesion, which is composed of an angle self-adaptive dry adhesion structure, an elastic micro spike structure, a main body support and a leg connecting piece. In the angle self-adaptive dry adhesion structure, the front and rear insteps are respectively formed by an inner side sole plate and an outer side sole plate through hinge connection, the bottom of the sole plate is attached with nano adhesive, and angle self-adaptation is realized through connecting rods, optical shafts and return springs; an elastic booster strip assists the nano adhesive to fully adhere to a smooth adhesion surface; and the wedge-shaped gap design of the nano adhesive reduces the adhesion force. The elastic micro spike connecting seat is fixed on the two sides of the main body support, and metal micro spikes are fixed on the connecting seat, so that the hook and spike adhesion to fabrics or polymers is realized through the metal micro spikes. The self-adaptive foot has the advantages of multi-material adaptation, angle self-adaptation, large adhesion force, small adhesion force, simple structure and the like, and can be applied to small foot-type climbing robots, and the working capacity of the robots on special surfaces is expanded.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot application, and in particular relates to a highly adaptable robot foot based on dry adhesion and hook-barb attachment, which is mainly used in small foot-type climbing robots. Technical Background

[0002] In the field of modern science and technology, the research and development of climbing robots is gaining increasing attention and in-depth exploration. As the application scenarios of robots continue to expand, higher requirements are placed on their ability to flexibly adhere and climb on unique surfaces. Among the many attachment technologies, traditional methods such as vacuum adsorption and electromagnetic adsorption often have environmental limitations. For example, in the field of space exploration, traditional attachment methods struggle to achieve stable and efficient adhesion on the surfaces of spacecraft solar panels and multi-layer thermal protection materials.

[0003] While some existing attachment technologies can be effective under certain conditions, they lack sufficient flexibility and adaptability. When faced with surfaces with varying inclination angles, they are unable to effectively adjust their posture to ensure reliable adhesion. Furthermore, repeated cycles of attachment and detachment can lead to rapid degradation of adhesion performance, making them incapable of meeting the demands of long-term, frequent operations.

[0004] Currently, there's no comprehensive and convenient solution for attaching materials that are both suitable for glass panels and thermally shielded multilayer materials, two distinct surfaces. These materials differ significantly in surface texture, hardness, and physical and chemical properties, making it difficult to achieve effective adhesion with a single method. This, in turn, limits the application and development of climbing robots in related fields. Therefore, a highly adaptable robotic foot based on dry adhesion and barbed attachment was developed to fill this gap in existing technology and expand the application of climbing robots on diverse surfaces. Summary of the Invention

[0005] The purpose of the present invention is to design a highly adaptable robot foot based on dry adhesion and hook-and-barb adhesion. The robot foot can realize active adhesion and desorption functions on the surface of glass plates and the surface of thermally protective multi-layer materials. The highly adaptable structure can passively adapt to adhesion surfaces with different inclination angles and can be applied to small foot-type climbing robots.

[0006] The present invention is achieved by adopting the following technical solutions:

[0007] A highly adaptable robot foot based on dry adhesion and barb attachment consists of an angle-adaptive dry adhesion structure, an elastic micro-barb structure, a main frame, and leg connectors. The angle-adaptive dry adhesion structure and the elastic micro-barb structure are located at the bottom of the main frame; the leg connectors are located at the top of the main frame, connecting the main frame to the robot's legs. The angle-adaptive dry adhesion structure includes nano-adhesive adhesive, and the elastic micro-barb structure includes metal micro-barbs. When the angle-adaptive dry adhesion structure is fully deployed, the nano-adhesive adhesive is located above the metal micro-barbs. When the foot is located on a hard material attachment surface, it adheres to the hard material attachment surface through the nano-adhesive adhesive. When the foot is located on a flexible material attachment surface, the metal micro-barbs penetrate the flexible material attachment surface, and the nano-adhesive adhesive also adheres to the flexible material attachment surface.

[0008] In the above technical solution, further, the main frame is provided with two vertical sliding grooves, and a crossbeam is provided at the bottom of the main frame. The angle-adaptive dry adhesion structure comprises a sole, an elastic support strip, a connecting rod, an optical axis, a hinge, and a return spring. The sole is divided into a forefoot and a hindfoot, symmetrically arranged relative to the crossbeam. Each forefoot and hindfoot consists of two plantar plates connected by a hinge, the bottoms of which are affixed with nano-adhesive glue. The elastic support strip is made of elastic material and fixed to the crossbeam. A limit plate E is provided at the top of each forefoot and hindfoot. Initially, the elastic support strip is not in contact with the inner plantar plate and is located inside the limit plate E. One end of the forefoot and hindfoot is connected to the crossbeam of the main frame via a hinge, and the other end is connected to the connecting rod via a hinge. The other end of the connecting rod has a circular hole. The optical axis passes through the circular hole of the connecting rod and is then placed into the sliding groove of the main frame. When the optical axis descends to the bottom of the sliding slot, it pulls the connecting rod and the sole of the foot downward simultaneously. Four return springs are positioned within the sliding slot, each with an initial length slightly greater than the slot's length. The optical axis is positioned at the bottom of these return springs. A leg connector is located at the top of the sliding slot, encapsulating the optical axis and return springs. To prevent insufficient adhesion of the nano-adhesive to the attachment surface during adhesion, the elastic support strip exerts downward pressure on the medial sole through its own elastic deformation, thereby pushing the nano-adhesive to achieve full adhesion.

[0009] Furthermore, the elastic micro-thorn structure includes an elastic micro-thorn connector, a micro-thorn fixing plate, and metal micro-thorns. Two elastic micro-thorn connectors are made of elastic material; they are located on the left and right sides of the main frame and are vertically fixed to the left and right ends of the crossbeam. The micro-thorn fixing plate is adhered to the side walls of the elastic micro-thorn connector using UV glue, and several metal micro-thorns are fixed between the elastic micro-thorn connector and the micro-thorn fixing plate. When the sole of the foot is horizontally flattened, the bottom plane of the nano-adhesive glue is located above the tips of the metal micro-thorns.

[0010] Furthermore, during the main support's descent, the forefoot and heel of the angle-adaptive dry adhesion structure follow the outer sole plate's contact with the adhesion surface. Through the coordination of the connecting rod, the optical axis, and the return spring, the nano-adhesive adhesive on the bottom of the sole plate gradually contacts the adhesion surface and conforms to it, completing the adhesion process. Once the sole plate has fully adhered to the adhesion surface, the foot's vertical descent ends, completing the active adhesion process.

[0011] Furthermore, the forefoot and the rear foot are located on one side of the main support, so that the center of gravity of the overall structure of the foot deviates from the center position of the main support.

[0012] Furthermore, the left and right edges of the bottom surface of each plantar plate are designed to be inclined, and after the nano-adhesive is attached to the bottom surface of the plantar plate, an inclined angle will also be formed on the left and right sides. After the plantar plate is completely attached to the attachment surface, a wedge-shaped gap can be formed on the left and right sides of the nano-adhesive. During the active desorption process, the robot's legs provide a horizontal force within the symmetrical plane of the main support, driving the foot to tilt to a certain angle. Due to the existence of the wedge-shaped gap, the nano-adhesive is more easily desorbed from the attachment surface. When the foot is lifted vertically upward, the reset spring gradually extends, pushing the optical axis to slide along the sliding groove to the bottom, and the connecting rod drives the plantar plate to return to its initial position.

[0013] Furthermore, when adhering to different surfaces, the elastic micro-thorn structure causes the elastic micro-thorn connector to undergo varying degrees of elastic deformation depending on the surface hardness. When adhering to a hard glass surface, the elastic micro-thorn connector undergoes significant deformation, while the adhesion force of the foot portion is solely derived from the nano-adhesive adhesive. When adhering to a flexible, thermally protective multilayer material, the elastic micro-thorn connector undergoes minimal elastic deformation, with the metal micro-thorns penetrating the multilayer material. The adhesion force of the foot portion is provided by both the nano-adhesive adhesive and the metal micro-thorns.

[0014] Furthermore, the leg connectors are connected to the robot's legs via screws, creating a fixed connection between the robot's legs, leg connectors, and main frame. The legs drive the foot to actively adhere and detach, and the foot can passively adapt to different angles of attachment. During active adhesion, the legs drive the foot downward, causing the sole to contact and adhere to the attachment surface. During active detachment, the legs provide a certain torque to tilt the foot and then lift it.

[0015] Compared with the prior art, the present invention has the following advantages:

[0016] 1. Multi-material adaptability: It can achieve effective adhesion on the surfaces of hard materials (such as glass plates) and flexible materials (such as thermal protective multi-layer materials). Through dry adhesion, it can form reliable adhesion on the surface of hard materials, and through hook attachment, it can penetrate flexible materials, thereby achieving compatibility with different materials and greatly broadening the application scenarios of bionic robots.

[0017] 2. Angle self-adaptation capability: It can passively adapt to attachment surfaces of different angles and maintain a stable adhesion effect within a large angle range. It will not easily fall off due to angle changes, greatly improving the safety and reliability of bionic robots when operating on uneven and multi-angle surfaces.

[0018] 3. Easy to desorb: Applying the lever principle, the main bracket is designed eccentrically, and there is a wedge-shaped gap between the bottom nano-adhesive and the adhesion surface, which can reduce the desorption force. It has the characteristics of large adhesion and small desorption force.

[0019] 4. Simple structure: The robot's feet do not require additional drivers and can be used by connecting them to the robot's legs. It has fewer degrees of freedom and a simple structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic structural diagram of a highly adaptable robot foot based on dry adhesion and barb adhesion according to the present invention;

[0021] Figure 2 This is an exploded view of a highly adaptable robot foot based on dry adhesion and barb attachment according to the present invention;

[0022] Figure 3 This is a partial exploded view of a highly adaptable robot foot based on dry adhesion and barb attachment according to the present invention;

[0023] Figure 4 is a partial schematic diagram of a highly adaptable robot foot based on dry adhesion and barb attachment according to the present invention;

[0024] Figure 5 Schematic diagram of the position of the tip of the metal micro-thorn when the sole of the foot is horizontally flattened according to the present invention;

[0025] Figure 6 is a schematic diagram of the main support of the present invention;

[0026] Figure 7 is a top view of the sliding groove of the present invention;

[0027] Figure 8 It is the micro-thorn adaptive structure of the present invention;

[0028] Figure 9 is a schematic diagram of the sole of the foot according to the present invention;

[0029] Figure 10 is a side view of the sole of the foot according to the present invention;

[0030] Figure 11 is a schematic diagram of the bottom of the plantar plate of the present invention;

[0031] In the figure: 1. Main frame; 2. Leg connector; 3. Return spring; 4. Connecting rod; 5. Elastic micro-thorn connector; 6. Inner foot plate; 7. Outer foot plate; 8. Hinge; 9. Nano-adhesive glue; 10. Metal micro-thorns; 11. Micro-thorn fixing plate; 12. Elastic power strip; 13. Optical axis; A. Symmetrical plane of the main frame; B. Sliding slot; C. Nut mounting slot; D. Crossbeam; E. Limit plate E. DETAILED DESCRIPTION

[0032] Unless otherwise specifically stated, the relative arrangement of parts and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention. Techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the specification.

[0033] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0034] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0035] like Figure 1-11 As shown in FIG, the present invention provides a highly adaptable robot foot based on dry adhesion and hook attachment. The highly adaptable robot foot based on dry adhesion and hook attachment includes an angle-adaptive dry adhesion structure, an elastic micro-thorn structure, a main frame 1, and a leg connector 2. Figure 1 and2 As shown, the angle-adaptive dry adhesion structure and the elastic micro-thorn structure are arranged at the lower part of the main body support 1; the leg connecting member 2 is arranged at the upper part of the main body support 1, and is used to connect the main body support 1 with the robot leg; the angle-adaptive dry adhesion structure includes nano-adhesive glue 9, and the elastic micro-thorn structure includes metal micro-thorns 10. When the angle-adaptive dry adhesion structure is fully unfolded, the nano-adhesive glue 9 is located above the metal micro-thorns 10; when the foot is located on the hard material attachment surface, it adheres to the hard material attachment surface through the nano-adhesive glue 9; when the foot is located on the flexible material attachment surface, the metal micro-thorns 10 penetrate into the flexible material attachment surface, and at the same time, the nano-adhesive glue 9 also adheres to the flexible material attachment surface.

[0036] like Figure 3-4 , 6-7, the main frame 1 is provided with two vertical sliding grooves B, the bottom of the main frame 1 is provided with a crossbeam D, the sliding groove B and the crossbeam D are respectively mirror-symmetrical with respect to the symmetry plane A of the main frame; the angle-adaptive dry adhesion structure further includes a sole, an elastic power strip 12, a limit plate E, a connecting rod 4, an optical axis 13, a hinge 8 and a reset spring 3; the sole includes a forefoot and a rear foot symmetrically arranged relative to the crossbeam D; as Figure 9 and 11As shown, in order to better fit the attachment surface, the forefoot and the rear foot are both composed of two plantar plates connected by a hinge 8, and nuts are installed in the nut placement groove C on the plantar plate, and the hinge 8 and the plantar plate are fixed by the nuts, and the bottom of the plantar plate is affixed with the nano adhesive glue 9; the elastic power-assisting strip 12 is fixed on the crossbeam D; the tops of the forefoot and the rear foot are both provided with a limit plate E; the initial state of the elastic power-assisting strip 12 has no contact with the inner plantar plate 6, and is located on the inner side of the limit plate E; one end of the forefoot and the rear foot is connected to the crossbeam D of the main frame 1 through the hinge 8, and the other end is connected to the connecting rod 4 through the hinge 8; the other end of the connecting rod 4 is provided with a circular hole, and the optical axis 13 passes through After the circular hole in the connecting rod 4 is inserted into the sliding slot B of the main support 1, the optical axis 13 descends to the bottom of the sliding slot B, pulling the connecting rod 4 and the sole of the foot downward simultaneously. Four return springs 3 are arranged in the sliding slots B. The initial length of each return spring 3 is greater than the length of the sliding slot B, and the optical axis 13 is located at the bottom of each return spring 3. The leg connector 2 is located at the top of the sliding slot B, encapsulating the return spring 3. To prevent insufficient adhesion of the nano-adhesive adhesive 9 to the adhesion surface during adhesion, the elastic support strip 12 exerts downward pressure on the medial foot plate 6 through its own elastic deformation, thereby promoting sufficient adhesion of the nano-adhesive adhesive 9 to the adhesion surface. The initial length of the return spring 3 is slightly greater than the length of the sliding slot B, ensuring compression after encapsulation, providing preload on the optical axis 13, and maintaining the initial foot shape. When the angle-adaptive dry adhesion structure is in its initial state (i.e., not in contact with the adhesion surface), the optical axis 13 is located at the bottom of the sliding slot B. When the sole of the foot falls and contacts the adhesion surface, optical axis 13 gradually rises, compressing the spring. Once the sole of the foot is completely in contact with the adhesion surface, optical axis 13 stops rising, and the spring maintains its current compressed length, indicating that the angle-adaptive dry adhesion structure is stable. Because the adhesion surface is not flat, when the adhesion surface is tilted, the spring compression lengths corresponding to the front and rear soles differ, allowing for stable adhesion and maintaining a stable angle-adaptive dry adhesion structure.

[0037] like Figure 5 As shown, the elastic micro-thorn structure also includes an elastic micro-thorn connecting seat 5 and a micro-thorn fixing plate 11; the elastic micro-thorn connecting seat 5 is located on the left and right sides of the main frame 1 and is vertically fixed to the left and right ends of the beam D; the micro-thorn fixing plate 11 is fixed to the side wall of the elastic micro-thorn connecting seat 5; Figure 8As shown, several metal micro-thorns 10 are fixed between the elastic micro-thorn connector 5 and the micro-thorn fixing plate 11. When the sole of the foot is horizontally flattened, the bottom plane of the nano-adhesive adhesive 9 is located above the tips of the metal micro-thorns 10, ensuring that the tips of the metal micro-thorns 10 contact the attachment surface before the nano-adhesive adhesive 9. To accommodate different attachment surfaces, the elastic micro-thorn connector 5 is made of elastic material. The micro-thorn fixing plate 11 is adhered to the sidewalls of the elastic micro-thorn connector 5 using UV adhesive. Several metal micro-thorns 10 are fixed between the elastic micro-thorn connector 5 and the micro-thorn fixing plate 11.

[0038] During the descent of the main support 1, the forefoot and the rear foot of the angle-adaptive dry adhesion structure come into contact with the adhesion surface along with the outer plantar plate 7. Through the cooperation of the connecting rod 4, the optical axis 13 and the return spring 3, the nano-adhesive glue 9 at the bottom of the plantar plate gradually comes into contact with the adhesion surface and conforms to the adhesion surface to complete the adhesion action; and when the plantar plate conforms to the adhesion surface and is completely adhered, the vertical fall of the foot stops, completing the entire active adhesion process.

[0039] like Figure 1 As shown, the forefoot and the rear foot are located on one side of the main support 1, so that the center of gravity of the entire foot structure deviates from the center position of the main support 1.

[0040] like Figure 10 As shown, the left and right edges of the bottom surface of each plantar plate are designed to be inclined. After the nano-adhesive 9 is attached to the bottom surface of the plantar plate, an inclined angle is also formed on the left and right sides. After the plantar plate is completely attached to the attachment surface, a wedge-shaped gap can be formed on the left and right sides of the nano-adhesive 9. During the active desorption process, the robot's legs provide a clockwise torque to drive the foot to tilt a certain angle. Due to the existence of the wedge-shaped gap, the nano-adhesive 9 is more easily desorbed from the attachment surface. When the foot is lifted vertically upward, the reset spring 3 gradually extends, pushing the optical axis 13 to slide to the bottom along the sliding groove B, and the connecting rod 4 drives the plantar plate to return to its initial position.

[0041] When the elastic micro-thorn structure adheres to surfaces of different materials, the elastic micro-thorn connecting seat 5 produces different degrees of elastic deformation according to the surface hardness; when adhered to the attachment surface of hard material, the elastic micro-thorn connecting seat 5 undergoes large deformation, and at this time the adhesion force of the foot comes only from the nano-adhesive glue 9; when adhered to the attachment surface of flexible material, the elastic deformation of the elastic micro-thorn connecting seat 5 is small, and at this time the metal micro-thorns 10 penetrate into the multi-layer material, and the adhesion force of the foot is provided by both the nano-adhesive glue 9 and the metal micro-thorns 10.

[0042] The leg connector 2 is connected to the robot's leg by screws, and the robot's leg, the leg connector 2 and the main frame 1 are fixedly connected; the entire foot is driven by the leg to actively adhere and detach, and the foot can passively adapt to attachment surfaces with different inclination angles.

[0043] The foot does not require an additional driver and can be used by being connected to the legs of a robot. It has fewer degrees of freedom and a simple structure.

Claims

1. A highly adaptable robot foot based on dry adhesion and barb attachment, characterized in that: The robot comprises an angle-adaptive dry-adhesion structure, an elastic micro-thorn structure, a main body support, and a leg connecting piece; the angle-adaptive dry-adhesion structure and the elastic micro-thorn structure are arranged at the lower part of the main body support; the leg connecting piece is arranged at the upper part of the main body support, and is used to connect the main body support and the robot legs; the angle-adaptive dry-adhesion structure comprises nano-adhesive glue, and the elastic micro-thorn structure comprises metal micro-thorns. When the angle-adaptive dry-adhesion structure is fully unfolded, the nano-adhesive glue is located above the metal micro-thorns; when the foot is located on the hard material attachment surface, it adheres to the hard material attachment surface through the nano-adhesive glue; when the foot is located on the flexible material attachment surface, the metal micro-thorns penetrate into the flexible material attachment surface, and the nano-adhesive glue also adheres to the flexible material attachment surface; The main body bracket is provided with two vertical sliding grooves, and the bottom of the main body bracket is provided with a cross beam; the angle-adaptive dry adhesion structure also includes a sole, an elastic power-assisting strip, a limit plate E, a connecting rod, an optical axis, a hinge and a return spring; the sole includes a forefoot and a rear foot symmetrically arranged relative to the cross beam; the forefoot and the rear foot are both composed of two plantar plates connected by hinges, and the bottom of the plantar plates is affixed with the nano-adhesive glue; the elastic power-assisting strip is fixed on the cross beam; the top of the forefoot and the rear foot are both provided with a limit plate E; the initial state of the elastic power-assisting strip is not in contact with the inner plantar plate, and is located on the inner side of the limit plate E; one end of the forefoot and the rear foot is connected to the cross beam of the main body bracket by a hinge, and the other end is connected to the connecting rod by a hinge; the other end of the connecting rod is provided with a circular hole, and the optical axis is inserted into the circular hole of the connecting rod and placed in the sliding groove of the main body bracket; When the optical axis drops to the bottom of the sliding groove, the connecting rod and the sole of the foot are pulled down at the same time; there are 4 return springs in total, which are respectively arranged in the sliding groove. The initial length of the return spring is greater than the length of the sliding groove, and the optical axis is located at the bottom of the return spring; the leg connecting piece is located at the top of the sliding groove and is used to encapsulate the return spring; in order to prevent insufficient adhesion of the nano-adhesion glue to the adhesion surface during the adhesion process, the elastic assist strip generates downward pressure on the inner sole of the foot through its own elastic deformation, thereby pushing the nano-adhesion glue to achieve sufficient adhesion to the adhesion surface.

2. The highly adaptable robot foot based on dry adhesion and barb adhesion according to claim 1, characterized in that: The elastic micro-thorn structure also includes an elastic micro-thorn connecting seat and a micro-thorn fixing plate; the elastic micro-thorn connecting seat is located on the left and right sides of the main frame and is vertically fixed to the left and right ends of the crossbeam; the micro-thorn fixing plate is fixed to the side walls of the elastic micro-thorn connecting seat; a plurality of metal micro-thorns are fixed between the elastic micro-thorn connecting seat and the micro-thorn fixing plate; when the sole of the foot is in a horizontally flattened state, the bottom plane of the nano-adhesive glue is located above the tips of the metal micro-thorns.

3. The highly adaptable robot foot based on dry adhesion and barb adhesion according to claim 1, characterized in that: During the descent of the main support, the forefoot and the rear foot of the angle-adaptive dry adhesion structure come into contact with the adhesion surface as the outer plantar plate contacts the adhesion surface. Through the cooperation of the connecting rod, the optical axis and the return spring, the nano-adhesion glue at the bottom of the plantar plate gradually contacts the adhesion surface and conforms to the adhesion surface to complete the adhesion action; and when the plantar plate conforms to the adhesion surface and is completely adhered, the vertical fall of the foot stops, completing the entire active adhesion process.

4. The highly adaptable robot foot based on dry adhesion and barb attachment according to claim 1, characterized in that: The forefoot and the rear foot are located on one side of the main support, so that the center of gravity of the overall foot structure deviates from the center position of the main support.

5. The highly adaptable robot foot based on dry adhesion and barb adhesion according to claim 4, characterized in that: The left and right edges of the bottom surface of each plantar plate are designed to be inclined. After the nano-adhesive is attached to the bottom surface of the plantar plate, an inclined angle will also be formed on the left and right sides. During the active desorption process, the robot's legs provide a horizontal force to drive the foot to tilt at a certain angle. The inclined angle makes it easier for the nano-adhesive to desorb from the adhesion surface. When the foot is lifted vertically upward, the reset spring gradually extends, pushing the optical axis to slide to the bottom along the sliding groove, and the connecting rod drives the plantar plate to return to its initial position.

6. The highly adaptable robot foot based on dry adhesion and barb adhesion according to claim 2, characterized in that: When the elastic micro-thorn structure adheres to surfaces of different materials, the elastic micro-thorn connecting seat produces different degrees of elastic deformation according to the surface hardness; when adhering to the attachment surface of hard material, the elastic micro-thorn connecting seat undergoes large deformation, and at this time the adhesion force of the foot comes only from the nano-adhesive glue; when adhering to the attachment surface of flexible material, the elastic deformation of the elastic micro-thorn connecting seat is small, and at this time the metal micro-thorns penetrate into the multi-layer material, and the adhesion force of the foot is provided by both the nano-adhesive glue and the metal micro-thorns.

7. The highly adaptable robot foot based on dry adhesion and barb attachment according to claim 1, characterized in that: The leg connector is connected to the robot's legs through screws, and the robot legs, leg connector and main body bracket are fixedly connected; the entire foot is driven by the legs to actively adhere and actively detach, and the foot can passively adapt to adhesion surfaces with different inclination angles.

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