Bionic mechanical gecko based on steering engine control

Abstract

The invention provides a bionic mechanical gecko based on steering engine control, and relates to the technical field of robots, and the bionic mechanical gecko comprises a main body frame which comprises a head, a first trunk, a second trunk, a third trunk and a tail which are fixedly connected through screws in sequence; the leg structure is connected to the main body frame and comprises a thigh and a shank, and the thigh rotates back and forth through a first steering engine; the shank rotates up and down through a second steering engine and a third steering engine; the main control board is vertically placed in the trunk and integrates an ultrasonic module, a WIFI module, an infrared remote control module, a gyroscope and an LED module; the foot part is connected to the lower portion of the leg part structure, and lines are arranged on the surface of the foot part to enhance road holding force. The method has the advantages in complex terrain exploration and operation, such as information collection in environments of slits, caves and the like. By means of the slender and flexible body characteristics, the device can go deep into the landform to collect information including images, gas components, temperature, humidity and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic devices, and more particularly, to a bionic mechanical gecko based on servo control. Background Art

[0002] At present, high-tech toys for teenagers on the market are mainly divided into two categories: one is high-priced finished robots, and the other is low-age children's toys with simple structures. Although the former has a certain technical content, its closed design deprives users of the sense of participation in self-assembly and is difficult to meet the needs of 16- to 17-year-old teenagers for practical learning; the latter, due to its single function and lack of technical depth, cannot stimulate the exploration interest of users of this age group. In addition, the existing bionic toys are mainly six-legged mechanical spiders, and their multi-degree-of-freedom control logic is complex and the operation threshold is high, resulting in many potential users giving up using them because they are difficult to master.

[0003] From an educational perspective, existing products generally lack the learning guidance of mechanical principles and electronic control systems. Users cannot understand basic engineering knowledge through hands-on practice, which restricts the cultivation of teenagers' creativity and hands-on ability. At the same time, in the field of complex terrain detection, traditional detection equipment is limited by volume and flexibility and is difficult to perform tasks in special environments such as narrow slots and caves. Although some bionic robots have terrain adaptation capabilities, their high costs and complex operation requirements limit their popularization and application, and their function expansion is insufficient, making it difficult to integrate diverse sensors to achieve efficient collection of environmental data.

[0004] In summary, the market urgently needs a bionic mechanical device with both educational value and practical application potential. This device needs to meet the following requirements: lower the operation threshold to adapt to teenage users; provide a modular assembly design to enhance the practical learning experience; optimize the motion control logic to adapt to complex terrains; and at the same time have the ability to expand functions and support sensor integration, so as to fill the technical gap between educational toys and professional detection equipment. Summary of the Invention

[0005] In view of the above technical problems that the existing bionic structures cannot be used as toys and cannot conduct exploration and operation in complex terrains, a bionic mechanical gecko based on servo control is provided. The present invention mainly imitates the motion state of a real gecko, integrates sensors and a collection module in the torso, so as to collect information in environments such as narrow slots and caves during exploration and operation in complex terrains.

[0006] The technical means adopted by the present invention are as follows:

[0007] A bionic mechanical gecko based on servo control, comprising:

[0008] The main body frame, including the head, the first torso, the second torso, the third torso and the tail, are sequentially fixedly connected by screws;

[0009] The leg structure, connected to the main body frame, includes the thigh and the calf. The thigh rotates back and forth through the first servo; the calf rotates up and down through the second servo and the third servo;

[0010] The main control board, vertically placed inside the torso, integrates an ultrasonic module, a WIFI module, an infrared remote control module, a gyroscope and an LED module;

[0011] The foot, connected below the leg structure, has patterns on its surface to enhance the grip.

[0012] Further, isolation columns and a 3D printed protective cover are provided outside the main control board to achieve a hidden layout of the electronic component circuits.

[0013] Further, the main control board is vertically arranged inside the main body frame, and the first torso, the second torso and the third torso of the main body frame are connected by screws to form a detachable frame.

[0014] Further, each thigh is respectively connected to the output shaft of the first servo fixed on the main body frame. The first servo and the second servo are fixed by an acrylic plate to form a motion unit; the second servo and the third servo are connected in series by an acrylic plate to form a linkage structure to simulate the movement of biological joints.

[0015] Further, the material of the foot is thermoplastic polyurethane, and suction cup-like patterns are provided at the end of the foot.

[0016] Further, the ultrasonic module, the gyroscope and the infrared receiver of the main control board are connected to the main control board through pins to collect environmental data in real time and feedback it to the main control board; the power module is connected to the main control board through a PH2.0 interface.

[0017] Further, the main control board is connected to each servo through a 24-channel servo control board to ensure that each servo can be independently controlled to achieve complex motion modes.

[0018] Compared with the prior art, the present invention has the following advantages:

[0019] 1. Modular detachable frame and quick maintainability

[0020] The main frame adopts a modular design with a head, a three-section torso, and a tail connected by screws, and each component can be disassembled independently. When operating in complex terrains such as narrow slots or caves, if a local structure is damaged due to collision, such as the deformation of the torso section, the corresponding module can be directly replaced without the need to repair the whole machine. This design significantly reduces the maintenance cost and downtime in exploration tasks, ensuring the continuous operation ability of the equipment in harsh environments.

[0021] 2. Low center of gravity and anti-overturning stability

[0022] The main control board is vertically arranged inside the torso. Combined with the passive swinging structure without drive at the tail, it effectively reduces the center of gravity of the whole machine. This design enables the mechanical gecko to dynamically adjust its balance through the inertial swinging of the tail when climbing on an inclined rock wall or crossing rough terrain, avoiding the risk of overturning caused by the center of gravity shift, especially suitable for stable data collection in shaking environments such as earthquake ruins.

[0023] 3. Bionic joint linkage and multi-terrain adaptability

[0024] Each leg adopts a three-servo linkage structure: the first servo drives the thigh to swing back and forth, and the second and third servos control the up and down movement of the calf in series through an acrylic plate, simulating the 12-degree-of-freedom movement of biological joints. Combined with the thermoplastic polyurethane (TPU) material and suction cup-like patterns on the feet, the feet can adaptively deform according to the terrain, enhancing the grip on smooth surfaces (such as glass, metal pipes) or loose media (such as sand, mud), breaking through the movement limitations of traditional wheeled or tracked equipment.

[0025] 4. Integrated sensing and real-time environment feedback

[0026] The main control board highly integrates ultrasonic modules, gyroscopes, and wireless communication modules, and avoids external interference through a hidden wiring layout. The ultrasonic module is horizontally installed on the torso, which can detect the distance and spatial form of obstacles in front in real time; the gyroscope dynamically monitors the body attitude. Combined with the bending ability of the segmented torso, the mechanical gecko can autonomously adjust its traveling direction in a narrow pipeline or cave, and synchronously transmit key environmental data such as images and gas components back.

[0027] 5. Redundant control and emergency response ability

[0028] Each joint is independently driven by a 24-channel servo control board, supporting the programming and storage of complex motion modes. When a single leg is stuck due to a fault, the system can automatically switch the motion mode and use the remaining leg joints to complete the retreat or waiting-for-rescue actions. This redundant design greatly improves the fault tolerance and safety of the equipment in unknown exploration scenarios. Description of the drawings

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0030] Figure 1 It is a top view of the structure of the present invention.

[0031] Figure 2 It is a side view of the structure of the present invention.

[0032] Figure 3 It is a front view of the structure of the present invention.

[0033] Figure 4 It is a schematic diagram of the foot structure in the present invention.

[0034] Figure 5 It is a schematic diagram of the bottom plate of the foot structure in the present invention.

[0035] Figure 6 It is a schematic diagram of the thigh structure in the present invention.

[0036] Figure 7 It is a schematic diagram of the leg link structure in the present invention.

[0037] Figure 8 It is a schematic diagram of the second torso structure in the present invention.

[0038] Figure 9 It is a schematic diagram of the leg link plate structure.

[0039] Figure 10 It is a schematic diagram of the third torso structure in the present invention.

[0040] Figure 11 It is a schematic diagram of the spine structure in the present invention.

[0041] In the figure: 1. Head; 2. Foot; 21. First connecting member; 22. Second connecting member; 23. Third connecting member; 24. Fourth connecting member; 3. First torso; 4. Second torso; 5. Third torso; 6. Tail. Detailed implementation manners

[0042] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The following will describe the present invention in detail with reference to the accompanying drawings and in combination with the embodiments.

[0043] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are only a part rather than all of the embodiments of the present invention. The description of at least one exemplary embodiment below is actually only illustrative and in no way limits the present invention and its application or use. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0044] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments of the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0045] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Without further declaration, the above terms have no special meanings and thus should not be construed as limiting the scope of protection of the present invention.

[0046] As Figures 1-11 shown, the present invention provides a bionic mechanical gecko based on servo control, including:

[0047] A main body frame, including a head 1, a first torso 3, a second torso 4, a third torso 5 and a tail 6, which are fixedly connected in sequence by screws;

[0048] The mechanical gecko adopts four independently controlled leg structures. Each leg consists of a thigh, a calf and a foot. The front legs are symmetrically distributed on both sides of the first torso 3 and are fixed to the first torso 3 through an acrylic connecting plate; the hind legs are symmetrically distributed on both sides of the third torso 5 and are fixed to the first torso 5 through an acrylic connecting plate.

[0049] Leg 2 structure. The torso is fixed to the leg structure by screws to ensure the stability of the overall structure, including the thigh and calf. The thigh rotates forward and backward through the first servo motor; the calf rotates up and down through the second and third servo motors; the leg finally has 12 degrees of freedom, with 3 degrees of freedom for each leg. The first servo motor is fixed to the overall frame to realize the connection between the overall frame and the leg. At the same time, the motor drives the thigh to rotate forward and backward, enabling rotation. The first and second servo motors are fixed by an acrylic plate to form a whole. The connection between the second and third servo motors realizes the motor driving the calf to rotate up and down, and coordinates with the forward and backward rotation of the first servo motor to achieve the overall movement.

[0050] The first connecting piece 21: It is used for the servo linkage structure between the calf and the thigh. The second and third servo motors are fixed by an acrylic plate to realize the up and down movement of the calf.

[0051] The second connecting piece 22: It assists in connecting the second and third servo motors to the acrylic plate to ensure the stability of power transmission and the integrity of the motion unit.

[0052] The third connecting piece 23: It cooperates with the second connecting piece 22 to further strengthen the series structure of the second and third servo motors and simulate the linkage effect of biological joints.

[0053] The fourth connecting piece 24: It connects the calf and the foot, fixes the third servo motor to control the rotation of the foot, and enhances the grip.

[0054] The connection between the first servo motor and the torso: The first servo motor is fixed to the torso by an acrylic plate to ensure the synchronous movement of the forward and backward swing of the thigh and the movement of the torso. The connection between the second servo motor and the thigh: The second servo motor is connected to the thigh by an acrylic plate to drive the up and down movement of the calf and ensure the flexibility of the leg in the vertical direction. The connection between the third servo motor and the calf: The third servo motor is connected to the calf by an acrylic plate to control the rotation of the foot 2 and ensure the grip of the foot 2 on different terrains.

[0055] The main control board structure uses an acrylic plate in combination with 3D printed parts and spacer posts to place the main control board vertically and wrap it therein, saving the space occupied by the main control board while fully protecting the main control board and making the appearance simple and beautiful. The 3D printed structures on both sides can be disassembled to wrap the wires connecting the electronic components to the main control board, enhancing the ornamental value of the gecko.

[0056] The main control board is vertically placed inside the torso and integrates an ultrasonic module, a WIFI module, an infrared remote control module, a gyroscope, and an LED module;

[0057] The main control board is fixed in the middle of the torso through an acrylic plate and 3D printed parts, and is placed vertically to lower the center of gravity and improve the balance of the robot.

[0058] The foot 2 is connected below the leg structure and adopts a textured design to increase the friction with the ground and enhance the grip.

[0059] The tail 6 is fixed to the end of the torso by screws. It has no drive structure and swings naturally by inertia during the movement of the robotic gecko to assist in balancing.

[0060] Modular design: The torso, legs, main control board, and tail 6 are connected by screws, which is convenient for disassembly and maintenance, improving the maintainability and expandability of the robot.

[0061] Enhanced stability: The main control board is placed vertically to lower the overall center of gravity, and the passive swing of the tail 6 further enhances the stability of the robot during movement.

[0062] Improved flexibility: The connection design between the legs and the torso allows each leg to move independently, ensuring the flexibility and adaptability of the robot in complex terrains.

[0063] High degree of freedom design: The three servos of each leg respectively control the movement of the thigh, calf, and foot 2, ensuring high flexibility and adaptability of the robot in complex terrains.

[0064] Efficient power transmission: The acrylic board is used as a connector to ensure efficient and stable power transmission between the servos and the leg structure, reducing energy loss.

[0065] Compact structure: The compact connection design between the servos and the leg structure reduces the volume and weight of the robot, improving the overall movement efficiency.

[0066] Connection between the main control board and the servos: The main control board is connected to 12 servos through a 24-channel servo control board, ensuring that each servo can be independently controlled to achieve complex movement patterns.

[0067] Connection between the sensors and the main control board: The ultrasonic module, gyroscope, and infrared receiver are connected to the main control board through pins to collect environmental data in real time and feedback it to the main control board.

[0068] Connection of the power module: The power module is connected to the main control board through a PH2.0 interface to provide stable power support for the entire system.

[0069] Benefits: High integration: The highly integrated design of the main control board with the servos, sensors, and power module ensures the compactness and efficiency of the system.

[0070] Real-time feedback: The direct connection between the sensors and the main control board ensures the real-time collection and processing of environmental data, improving the intelligence level of the robot.

[0071] Power stability: The power supply module is connected to the main control board through a PH2.0 interface, ensuring stable power supply for the entire system and extending the working time of the robot.

[0072] The present invention can be applied in disaster rescue scenarios. For example, after an earthquake, it is often difficult for rescue workers to quickly enter some narrow or complex rubble spaces for reconnaissance and search and rescue. At this time, bionic geckos can be used for terrain exploration and information collection.

[0073] Due to the characteristics of vertical climbing and a slender and flexible body of the bionic gecko, it can penetrate into hard-to-reach areas such as narrow slots and caves in the rubble. By installing devices such as high-definition cameras, gas sensors, and temperature and humidity sensors on the bionic gecko, image information, air quality data, and temperature and humidity data inside the rubble can be transmitted to rescue workers in real time.

[0074] In this way, rescue workers can more accurately judge the situation inside the rubble based on the information collected by the bionic gecko, including the possible locations of trapped people, whether the air is circulating, and whether there is a risk of secondary collapse, etc., so as to formulate a more scientific and reasonable rescue plan and improve the rescue efficiency and safety.

[0075] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bionic mechanical gecko based on servo control, characterized in that, Including: The main body frame, including a head, a first torso, a second torso, a third torso and a tail, which are sequentially fixedly connected by screws; The leg structure, connected to the main body frame, includes a thigh and a calf. The thigh is rotated back and forth by a first servo motor; the calf is rotated up and down by a second servo motor and a third servo motor; The main control board, vertically placed inside the torso, integrates an ultrasonic module, a WIFI module, an infrared remote control module, a gyroscope and an LED module; The feet, connected below the leg structure, and the surface of the feet is provided with patterns to enhance the grip.

2. The bionic mechanical gecko based on servo control according to claim 1, wherein Isolated columns and a 3D printed protective cover are provided outside the main control board to realize a hidden layout of the electronic component circuits.

3. The bionic mechanical gecko based on servo control according to claim 2, wherein The main control board is vertically arranged inside the main body frame, and the first torso, the second torso and the third torso of the main body frame are connected by screws to form a detachable frame.

4. The bionic mechanical gecko based on servo control according to claim 1, characterized in that, Each thigh is respectively connected to the output shaft of a first servo motor fixed on the main body frame, and the first servo motor and the second servo motor are fixed by an acrylic plate to form a motion unit; the second servo motor and the third servo motor are connected in series by an acrylic plate to form a linkage structure to simulate the movement of biological joints.

5. The bionic mechanical gecko based on servo control according to claim 1, characterized in that The material of the feet is thermoplastic polyurethane, and the end of the feet is provided with suction cup-shaped patterns.

6. The bionic mechanical gecko based on servo control according to claim 1, characterized in that, The ultrasonic module, the gyroscope and the infrared receiver of the main control board are connected to the main control board through pins to collect environmental data in real time and feedback it to the main control board; the power module is connected to the main control board through a PH2.0 interface.

7. The bionic mechanical gecko based on servo control according to claim 1, characterized in that The main control board is connected to each servo motor through a 24-channel servo control board to ensure that each servo motor can be independently controlled to realize complex motion modes.

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