Intelligent robot imitating gecko

Abstract

The invention discloses a gecko-imitating intelligent robot, and relates to the technical field of biological bionic intelligent robots, the gecko-imitating intelligent robot comprises a gecko-imitating front body and a gecko-imitating rear body, and the gecko-imitating front body and the gecko-imitating rear body are connected through a body connecting part; light-weight mechanical structure design is adopted, 3D modeling is carried out, all parts are manufactured in combination with the 3D printing technology, a multi-joint driving system composed of an STM32F103C8T6 main control chip and an SC90 steering engine is carried, multi-foot gait control is achieved, water-based polyacrylate pressure-sensitive adhesive is adopted for the feet, gaps of the feet are filled, the feet of the gecko are covered, and the gecko gait control effect is achieved. The robot can be stably adhered to the surfaces of various materials such as glass and concrete, in addition, Bluetooth / Wi-Fi wireless control is supported, advancing, steering and obstacle crossing actions of the robot can be remotely operated through a mobile device APP, and the robot can be suitable for high-risk scenes such as urban pipeline flaw detection, high-rise building cleaning and earthquake ruin search and rescue.

Description

Technical Field

[0001] The present invention relates to the technical field of bio - bionic intelligent robots, and particularly to a gecko - like intelligent robot. Background Art

[0002] A robot is a product of the combination of modern electronic technology and traditional mechanical structure science. It is a multi - disciplinary comprehensive high - tech product of computer science, cybernetics, structure science, information science, and sensing technology, etc. It is also an automated device that imitates human operations, runs at high speed, repeats operations, and has high precision. With the development of existing technologies, robots have gradually been applied to industries such as construction, fire protection, and petrochemicals.

[0003] A climbing robot is a special type of robot that can autonomously move and perform tasks on vertical surfaces, complex terrains, or unstructured environments. It integrates key technologies such as bionic design, adsorption technology, and motion control, and is widely used in fields such as industrial inspection, rescue and search, building maintenance, and military reconnaissance. Currently, through bionic design, intelligent adsorption, and adaptive control technology, climbing robots are breaking through the limitations of traditional operation scenarios.

[0004] The adsorption technologies adopted by existing climbing robots generally include vacuum adsorption, magnetic adsorption, and bionic adhesion. Among them, vacuum adsorption has problems of high energy consumption and high noise, while magnetic adsorption is only applicable to metal surfaces and has poor adaptability. Bionic adhesion technology faces problems of failure in humid environments and lag in dynamic response. In addition, it is not convenient to remotely control flexible forward, turning, and obstacle - crossing actions, etc., so it cannot be well applied to high - risk scenarios such as urban pipeline flaw detection, high - rise building cleaning, and earthquake - debris search and rescue, and its application prospects are limited. Therefore, the present invention proposes a gecko - like intelligent robot to solve the problems existing in the prior art. Summary of the Invention

[0005] Aiming at the above problems, the purpose of the present invention is to propose a gecko - like intelligent robot to solve the problems that the vacuum adsorption technology adopted by existing climbing robots has high energy consumption and high noise, magnetic adsorption is only applicable to metal surfaces, and bionic adhesion technology faces problems of failure in humid environments and lag in dynamic response.

[0006] To achieve the objectives of the present invention, the present invention is realized through the following technical solutions: A gecko-inspired intelligent robot includes a gecko-inspired front body and a gecko-inspired rear body. The gecko-inspired front body and the gecko-inspired rear body are connected by a body connecting part. One end of the gecko-inspired front body away from the body connecting part is hinged with a gecko-inspired head driven and controlled by a head servo. One end of the gecko-inspired rear body away from the body connecting part is hinged with a gecko-inspired tail driven and controlled by a tail servo. On both the front and rear sides of the gecko-inspired front body and the gecko-inspired rear body, there are hinged connecting arms driven and controlled by a first leg servo. On the side of the connecting arm away from the first leg servo, there is a hinged gecko-inspired leg driven and controlled by a second leg servo. The bottom end of the gecko-inspired leg is hinged with a gecko-inspired foot through a hinging mechanism. The bottom of the gecko-inspired foot is filled with water-based polyacrylate pressure-sensitive adhesive.

[0007] A further improvement lies in that: The gecko-inspired front body, the gecko-inspired rear body, the body connecting part, the gecko-inspired head, and the gecko-inspired tail are all made of carbon fiber material and manufactured by 3D printing. The connecting arm, the gecko-inspired leg, and the gecko-inspired foot are all made of resin material and manufactured by 3D printing.

[0008] A further improvement lies in that: The hinging mechanism includes a hinge seat fixed to the bottom end of the gecko-inspired leg and a hinge block fixed to the top end of the gecko-inspired foot. The hinge block is hinged inside the hinge seat through a hinge shaft.

[0009] A further improvement lies in that: The second leg servo is fixed on the gecko-inspired leg. The connecting arm is fixed on the output shaft of the second leg servo. The first leg servos are respectively fixed on the top ends of the gecko-inspired front body and the gecko-inspired rear body. One end of the connecting arm away from the gecko-inspired leg is fixed on the output shaft of the first leg servo.

[0010] A further improvement lies in that: On the gecko-inspired front body, there is a main control chip electrically connected to the head servo, the tail servo, the first leg servo, and the second leg servo. A wireless communication module is integrated on the main control chip.

[0011] A further improvement lies in that: The head servo is fixed on the gecko-inspired front body. One side of the gecko-inspired head close to the gecko-inspired front body is fixed on the output shaft of the head servo. Cameras are symmetrically arranged on the gecko-inspired head.

[0012] A further improvement lies in that: The tail servo is fixed on the gecko-inspired rear body. One side of the gecko-inspired tail close to the gecko-inspired rear body is fixed on the output shaft of the tail servo. The gecko-inspired tail is composed of a first tail segment, a second tail segment, a third tail segment, and a fourth tail segment hinged in sequence.

[0013] A further improvement lies in that: the body connecting part includes a first connecting plate fixedly connected to the front body of the gecko bionic and a second connecting plate fixedly connected to the rear body of the gecko bionic, and the opposite sides of the first connecting plate and the second connecting plate are hinged to each other.

[0014] The beneficial effects of the present invention are as follows: Aiming at the problems of adhesion failure, limited movement and insufficient battery life of traditional climbing robots in complex environments, a lightweight mechanical structure is designed, 3D modeling is carried out and various components are made by combining 3D printing technology. It is equipped with a multi-joint drive system composed of an STM32F103C8T6 main control chip and an SC90 servo to achieve multi-legged gait control. Moreover, the feet adopt water-based polyacrylate pressure-sensitive adhesive to fill the voids in the feet and cover the feet of the gecko, enabling stable adhesion on the surfaces of various materials such as glass and concrete, with a maximum vertical load of 3.2 kg. In addition, it supports Bluetooth / Wi-Fi wireless control, and the forward movement, steering and obstacle-crossing actions of the robot can be remotely operated through a mobile device APP. It can be applied to high-risk scenarios such as urban pipeline inspection, high-rise building cleaning, and earthquake ruins search and rescue, solving the technical problems of poor adaptability and high energy consumption of traditional climbing robot equipment, and having broad industrial application prospects. Brief Description of the Drawings

[0015] Figure 1 is a three-dimensional structural schematic diagram of the front body of the gecko bionic and the rear body of the gecko bionic of the present invention;

[0016] Figure 2 is a three-dimensional structural schematic diagram of the gecko bionic foot of the present invention;

[0017] Figure 3 is a three-dimensional structural schematic diagram of the body connecting part of the present invention.

[0018] Wherein: 1. Front body of the gecko bionic; 2. Rear body of the gecko bionic; 3. Body connecting part; 4. Head servo; 5. Head of the gecko bionic; 6. Tail servo; 7. Tail of the gecko bionic; 8. First leg servo; 9. Connecting arm; 10. Second leg servo; 11. Leg of the gecko bionic; 12. Hinge mechanism; 13. Foot of the gecko bionic; 14. Hinge seat; 15. Hinge block; 16. Hinge shaft; 17. Main control chip; 18. Camera; 701. First tail section; 702. Second tail section; 703. Third tail section; 704. Fourth tail section; 301. First connecting plate; 302. Second connecting plate. Detailed Embodiments

[0019] 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. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. 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 protection scope of the present invention.

[0020] Climbing robots are intelligent robots that can move autonomously on vertical or complex surfaces (such as walls, pipes, trees, ruins, etc.). Their design inspiration comes from nature (such as geckos, insects, etc.). Combining mechanical, electronic, materials science, and artificial intelligence technologies, they are widely used in industrial inspection, rescue missions, military reconnaissance, space exploration, and other fields.

[0021] There is an urgent need for climbing robots with high adaptability and high reliability in current industrial inspection, emergency rescue, and other fields: urban pipeline inspection needs to adapt to complex environments, high-rise building cleaning faces high-altitude operation risks, and post-disaster ruins search and rescue requires robots to have the ability to pass through narrow spaces. However, existing climbing robots have problems such as high energy consumption and high noise in vacuum adsorption, magnetic adsorption is only applicable to metal surfaces, and although bionic adhesion technology has developed for many years, it still faces challenges such as failure in humid environments and lag in dynamic response.

[0022] According to Figure 1 、 Figure 2 、 Figure 3As shown in the figure, this embodiment provides a gecko-like intelligent robot, which is composed of a gecko-like front body 1, a gecko-like rear body 2 and a body connecting part 3. The body connecting part 3 is connected between the gecko-like front body 1 and the gecko-like rear body 2, and an articulated connection relationship is formed between the gecko-like front body 1 and the gecko-like rear body 2 through the body connecting part 3. A head servo 4 is fixed on the right side of the top of the gecko-like front body 1 by screws. A gecko-like head 5 is provided at the right end of the gecko-like front body 1, and the gecko-like head 5 is driven and controlled by the head servo 4 to swing. A tail servo 6 is fixed on the left side of the top of the gecko-like rear body 2 by screws. A gecko-like tail 7 is provided at the left end of the gecko-like rear body 2, and the gecko-like tail 7 is driven and controlled by the tail servo 6 to swing. First leg servos 8 are fixed on the front and rear sides of the tops of the gecko-like front body 1 and the gecko-like rear body 2 by screws. Connecting arms 9 are provided on the front and rear sides of the gecko-like front body 1 and the gecko-like rear body 2, and the connecting arms 9 are driven and controlled by the first leg servos 8 to swing. A gecko-like leg 11 is provided on the side of the connecting arm 9 away from the first leg servo 8, and the gecko-like leg 11 is driven and controlled by a second leg servo 10. An articulated mechanism 12 is fixed at the bottom of the gecko-like leg 11, and a gecko-like foot 13 is articulated at the bottom of the articulated mechanism 12, so that the gecko-like foot 13 can be adjusted in angle. A groove is formed at the bottom of the gecko-like foot 13, and a water-based polyacrylate pressure-sensitive adhesive is filled in the groove. The water-based polyacrylate pressure-sensitive adhesive forms a covering rough surface, which can be repeatedly adhered and has good load-bearing capacity, and can support the operation of the gecko-like intelligent robot in various environments.

[0023] The gecko-like front body 1, the gecko-like rear body 2, the body connecting part 3, the gecko-like head 5 and the gecko-like tail 7 of this embodiment are all made of carbon fiber materials by 3D printing. The connecting arms 9, the gecko-like legs 11 and the gecko-like feet 13 of this embodiment are all made of resin materials by 3D printing. Through the lightweight mechanism design, it is ensured that the gecko-like intelligent robot is lightweight and can operate on the vertical-angle wall or environment.

[0024] The articulated mechanism 12 includes an articulated seat 14 and an articulated block 15. The articulated seat 14 is fixed at the bottom of the gecko-like leg 11 by screws, the articulated block 15 is fixed at the top of the gecko-like foot 13 by screws, and the articulated block 15 is articulated inside the articulated seat 14 through an articulated shaft 16. The articulated block 15 can rotate within the articulated seat 14, thereby realizing the angle adjustment of the gecko-like foot 13.

[0025] The second leg servo 10 is fixed on the gecko-like leg 11 by screws. The connecting arm 9 is fixed on the output shaft of the second leg servo 10, and the end of the connecting arm 9 away from the gecko-like leg 11 is fixed on the output shaft of the first leg servo 8, so that the connecting arm 9 can swing under the control of the first leg servo 8.

[0026] The main control chip 17 is mounted on the anterior body 1 of the gecko bionic robot. In this embodiment, the main control chip 17 is an STM32F103C8T6 main control chip, and the main control chip 17 is electrically connected to the head servo 4, the tail servo 6, the first leg servo 8 and the second leg servo 10. The head servo 4, the tail servo 6, the first leg servo 8 and the second leg servo 10 are all SC90 servos. By combining the STM32F103C8T6 main control chip and the SC90 servos, a multi-joint drive system is formed to achieve multi-legged gait control. The multi-joint drive system controls the movement of each joint through each servo. Each leg has two servos to ensure that the robot can move at multiple angles. At the same time, servos are added to the tail and head to imitate the movement trajectory of a real gecko as much as possible;

[0027] A wireless communication module is integrated on the main control chip 17, which supports remote control by a mobile terminal such as a mobile phone. In this embodiment, the wireless communication module selects a Bluetooth 4.0 or Wi-Fi module, which supports the mobile terminal APP to send commands to control the motion parameters, facilitating the user to remotely control the gecko bionic intelligent robot.

[0028] One side of the gecko bionic head 5 close to the anterior body 1 of the gecko is fixed on the output shaft of the head servo 4, so that the gecko bionic head 5 can swing under the action of the head servo 4. A camera 18 is provided at the position of the eyes on the gecko bionic head 5 for real-time monitoring of the environment around the gecko bionic intelligent robot.

[0029] One side of the gecko bionic tail 7 close to the posterior body 2 of the gecko is fixed on the output shaft of the tail servo 6, so that the gecko bionic tail 7 can swing under the action of the tail servo 6. The gecko bionic tail 7 is composed of a first tail segment 701, a second tail segment 702, a third tail segment 703 and a fourth tail segment 704. Among them, the first tail segment 701 is fixed on the output shaft of the tail servo 6, the right end of the second tail segment 702 is hinged to the left end of the first tail segment 701, the right end of the third tail segment 703 is hinged to the left end of the second tail segment 702, and the right end of the fourth tail segment 704 is hinged to the left end of the third tail segment 703.

[0030] The body connecting part 3 is composed of a first connecting plate 301 and a second connecting plate 302. Among them, the first connecting plate 301 is fixedly connected to the anterior body 1 of the gecko by screws, and the second connecting plate 302 is fixedly connected to the posterior body 2 of the gecko by screws. And the opposite sides of the first connecting plate 301 and the second connecting plate 302 are hinged to each other, so as to realize the hinged connection structure between the anterior body 1 of the gecko and the posterior body 2 of the gecko.

[0031] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A gecko-inspired intelligent robot, comprising a gecko-inspired front body (1) and a gecko-inspired rear body (2), characterized in that: The front gecko - like body (1) and the rear gecko - like body (2) are connected by a body connecting part (3). One end of the front gecko - like body (1) far from the body connecting part (3) is hinged with a gecko - like head (5) driven and controlled by a head servo (4). One end of the rear gecko - like body (2) far from the body connecting part (3) is hinged with a gecko - like tail (7) driven and controlled by a tail servo (6). On both the front and rear sides of the front gecko - like body (1) and the rear gecko - like body (2), there are connecting arms (9) hinged and driven and controlled by a first leg servo (8). On the side of the connecting arm (9) far from the first leg servo (8), there is a gecko - like leg (11) hinged and driven and controlled by a second leg servo (10). The bottom end of the gecko - like leg (11) is hinged with a gecko - like foot (13) through a hinge mechanism (12). The bottom of the gecko - like foot (13) is filled with water - based polyacrylate pressure - sensitive adhesive.

2. The gecko-inspired intelligent robot according to claim 1, characterized in that: The front gecko - like body (1), the rear gecko - like body (2), the body connecting part (3), the gecko - like head (5) and the gecko - like tail (7) are all made of carbon fiber material by 3D printing. The connecting arm (9), the gecko - like leg (11) and the gecko - like foot (13) are all made of resin material by 3D printing.

3. The intelligent gecko-like robot according to claim 1, wherein: The hinge mechanism (12) includes a hinge seat (14) fixed to the bottom end of the gecko - like leg (11) and a hinge block (15) fixed to the top end of the gecko - like foot (13). The hinge block (15) is hinged to the inner side of the hinge seat (14) through a hinge shaft (16).

4. The intelligent gecko-like robot according to claim 1, wherein: The second leg servo (10) is fixed on the gecko - like leg (11). The connecting arm (9) is fixed on the output shaft of the second leg servo (10). The first leg servos (8) are respectively fixed on the tops of the front gecko - like body (1) and the rear gecko - like body (2). One end of the connecting arm (9) far from the gecko - like leg (11) is fixed on the output shaft of the first leg servo (8).

5. The intelligent gecko-like robot according to claim 4, wherein: On the front gecko - like body (1), there is a main control chip (17) electrically connected to the head servo (4), the tail servo (6), the first leg servo (8) and the second leg servo (10). A wireless communication module is integrated on the main control chip (17).

6. The intelligent gecko-like robot according to claim 1, characterized in that: The head servo (4) is fixed on the front gecko - like body (1). One side of the gecko - like head (5) close to the front gecko - like body (1) is fixed on the output shaft of the head servo (4). On the gecko - like head (5), there are symmetrically arranged cameras (18).

7. The intelligent gecko-like robot according to claim 1, characterized in that: The tail servo (6) is fixed on the rear gecko - like body (2). One side of the gecko - like tail (7) close to the rear gecko - like body (2) is fixed on the output shaft of the tail servo (6). The gecko - like tail (7) is composed of a first tail segment (701), a second tail segment (702), a third tail segment (703) and a fourth tail segment (704) hinged in sequence.

8. The intelligent gecko-like robot according to claim 1, characterized in that: The body connecting part (3) includes a first connecting plate (301) fixedly connected to the pre - body (1) of the gecko bionic model and a second connecting plate (302) fixedly connected to the post - body (2) of the gecko bionic model. The opposite sides of the first connecting plate (301) and the second connecting plate (302) are hinged to each other.

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