High-stability robot based on bionic attachment auxiliary standing device

Abstract

The invention provides a high-stability robot based on a bionic attachment auxiliary standing device, the robot comprises a robot body and an attachment foot assembly, the robot body comprises a control unit and a walking unit, the control unit comprises a driving part and a control part, and the walking unit comprises a joint assembly and wheel feet. The joint assembly is connected with the control unit and the wheel feet, the control piece is connected with the driving piece, the attached foot assembly is connected with the joint assembly and comprises a connecting piece and a buffering piece, the connecting piece is connected between the joint assembly and the buffering piece, the buffering piece comprises a rotating part and an attached part, and the rotating part is connected with the connecting piece and can rotate relative to the connecting piece; the attachment part and the rotating part are detachably connected, the robot body has a walking state and a parking state, and in the walking state, the attachment foot assembly is separated from the ground; in the parking state, the attachment part is used for being attached to the ground. The robot can effectively keep upright and static postures.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and specifically, to a highly stable robot based on a bionic attachment-assisted standing device. Background Art

[0002] Ground mobile robots have been widely used in many fields such as resource exploration and disaster relief. Among them, wheeled or wheel-legged composite robots can combine the advantages of fast wheeled movement speed, high stability, and high obstacle-crossing performance of legged movement, and have important research value in both theoretical innovation and engineering technology.

[0003] In related technologies, wheeled or wheel-legged robots rely on complex control algorithms to maintain balance, which not only increases the complexity of the system but also limits the task execution ability of the robots in a stationary state. Especially in the case of external environmental interference, increased load, etc., the control systems of wheeled or wheel-legged robots are difficult to effectively respond, resulting in unstable standing or inability to maintain an upright and stationary posture. Summary of the Invention

[0004] The present invention is made based on the inventor's discovery and recognition of the following facts and problems:

[0005] Bionic technology provides a new solution idea for wheeled or wheel-legged robots. Organisms such as geckos, insects, frogs, octopuses, etc. can stand or walk on smooth vertical surfaces, rough rocks, or slippery water surfaces. These organisms show excellent attachment abilities on various complex surfaces through different grasping methods and mechanisms, such as dry adhesion, wet adhesion, claw prick grasping, sucker attachment, electrostatic adsorption, etc. By imitating the biological characteristics in nature, a robot foot structure that can adapt to various complex environments can be designed, which can be triggered and attached to the ground when the wheel-legged robot is in a stationary state and performing heavy-load tasks, effectively improving the standing stability of the wheeled or wheel-legged robot in a complex environment, and at the same time reducing the dependence on a complex attitude control system.

[0006] The present invention aims to solve at least one of the technical problems in the related technologies to some extent.

[0007] To this end, an embodiment of the present invention provides a highly stable robot based on a bionic attachment-assisted standing device, and the highly stable robot based on the bionic attachment-assisted standing device can effectively maintain an upright and stationary posture.

[0008] The highly stable robot based on the bionic attachment-assisted standing device according to the embodiment of the present invention includes:

[0009] Robot body, the robot body includes a control unit and a walking unit, the control unit includes a driving member and a control member, the walking unit includes a joint assembly and a wheel-foot, the joint assembly connects the control unit and the wheel-foot, and the joint assembly is used to drive the wheel-foot to move in the height direction of the robot body, the driving member is used to drive the wheel-foot to rotate, and the control member is connected to the driving member to issue a control instruction to the driving member;

[0010] Attachment foot assembly, the attachment foot assembly is connected to the joint assembly, the attachment foot assembly includes a connecting member and a buffer member, the connecting member is connected between the joint assembly and the buffer member, the connecting member is movable relative to the joint assembly, the buffer member includes a rotating portion and an attachment portion, the rotating portion is connected to the connecting member and the rotating portion is rotatable relative to the connecting member, and the attachment portion is detachably connected to the rotating portion and is located on the side of the rotating portion adjacent to the ground;

[0011] The robot body has a walking state and a stationary state. In the walking state, there is a gap between the attachment foot assembly and the ground; in the stationary state, the attachment portion is used to attach to the ground.

[0012] The highly stable robot with a bionic attachment-assisted standing device according to an embodiment of the present invention can, in the stationary state, use the attachment portion of the attachment foot assembly to contact the ground, and can adopt corresponding bionic feet to maintain an upright and stationary posture according to different ground morphologies, so as to effectively improve the standing stability of a wheeled or wheeled-footed robot in a complex environment, and at the same time reduce the dependence on a complex attitude control system. In addition, in the walking state, the attachment foot assembly can also be retracted to avoid affecting the normal walking of the robot.

[0013] In some embodiments, the attachment portion has an adhesion surface, and in the stationary state, the adhesion surface is used to adhere to the ground.

[0014] In some embodiments, the attachment portion includes an attachment suction cup, and in the stationary state, the attachment suction cup is used to adsorb on the ground.

[0015] In some embodiments, the attachment portion includes a claw mechanism and a tension release mechanism, the tension release mechanism is connected to the claw mechanism, and in the stationary state, the tension release mechanism is used to drive the claw mechanism to grasp and lock on the ground.

[0016] In some embodiments, the attachment portion includes an electrostatic generating assembly, and in the stationary state, the electrostatic generating assembly is used to attach to the ground through electrostatic force.

[0017] In some embodiments, the attachment portion includes an electromagnetic induction component, and in the stationary state, the electromagnetic induction component is used to magnetically attract a magnetic material on the ground.

[0018] In some embodiments, the connecting member includes a first connecting portion and a second connecting portion. The first connecting portion is connected to the joint assembly, and the first connecting portion is rotatable about a first axial direction. The second connecting portion is connected to the first connecting portion, and the second connecting portion is movable along an extending direction of a second axial direction.

[0019] In some embodiments, the rotating portion includes a rotating body and a rotating base. The rotating body is connected to the second connecting portion, and the rotating base is connected to a lower end of the rotating body and the rotating base is rotatable relative to the rotating body.

[0020] In some embodiments, the rotating portion further includes an elastic member. A first end of the elastic member is connected to the rotating body, and a second end of the elastic member is connected to the rotating base. There are a plurality of the elastic members, and the plurality of elastic members are arranged at intervals along a circumferential direction of the second connecting portion.

[0021] In some embodiments, the rotating portion further includes a buffer pad, and the buffer pad is located between the attachment portion and the rotating base in an extending direction of the second connecting portion.

[0022] In some embodiments, the attachment foot assembly further includes a detection member, and the detection member is connected to the attachment portion. The detection member is used to detect an attitude and pressure of the attachment portion. Description of the Drawings

[0023] Figure 1 is a schematic structural diagram of a highly stable robot (walking state) of the bionic attachment-assisted standing device according to an embodiment of the present invention.

[0024] Figure 2 is a schematic structural diagram of a highly stable robot (stationary state) of the bionic attachment-assisted standing device according to an embodiment of the present invention.

[0025] Figure 3 is a schematic structural diagram of an attachment foot assembly of a highly stable robot of the bionic attachment-assisted standing device according to an embodiment of the present invention.

[0026] Reference Signs:

[0027] 1. Robot body, 11. Control unit, 12. Walking unit, 121. Joint assembly, 122. Wheel foot

[0028] 2. Attachment foot assembly, 21. Connecting member, 211. First connecting portion, 212. Second connecting portion, 213. Connecting plate, 22. Buffer member, 221. Rotating portion, 2211. Rotating body, 2212. Rotating base, 2213. Elastic member, 222. Attachment portion, 223. Buffer pad. Detailed implementation manner

[0029] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0030] As Figures 1 - 3 shown, the high-stability wheeled or wheel-footed 122-type robot based on the adaptive bionic attachment foot device of the embodiment of the present invention includes: a robot body 1 and an attachment foot assembly 2.

[0031] The robot body 1 includes a control unit 11 and a walking unit 12. The control unit 11 includes a driving member and a control member. The walking unit 12 includes a joint assembly 121 and a wheel foot 122. The joint assembly 121 connects the control unit 11 and the wheel foot 122, and the joint assembly 121 is used to drive the wheel foot 122 to move in the height direction of the robot body 1. The driving member is used to drive the wheel foot 122 to rotate. The control member is connected to the driving member to issue a control instruction to the driving member. The attachment foot assembly 2 is connected to the joint assembly 121. The attachment foot assembly 2 includes a connecting member 21 and a buffer member 22. The connecting member 21 is connected between the joint assembly 121 and the buffer member 22. The connecting member 21 is movable relative to the joint assembly 121. The buffer member 22 includes a rotating portion 221 and an attachment portion 222. The rotating portion 221 is connected to the connecting member 21 and the rotating portion 221 is rotatable relative to the connecting member 21. The attachment portion 222 is detachably connected to the rotating portion 221 and is located on the side of the rotating portion 221 adjacent to the ground. The robot body 1 has a walking state and a stopping state. In the walking state, there is a gap between the attachment foot assembly 2 and the ground; in the stopping state, the attachment portion 222 is used to attach to the ground.

[0032] Specifically, as Figures 1 - 3As shown in the figure, the control unit 11 is connected to the walking unit 12, and the control unit 11 is located above the walking unit 12. The driving member can be a motor, and the control unit 11 further includes a battery for providing energy to supply the required electrical energy for the driving member and the control member. The control member includes the control unit 11, the detection unit, the communication unit, etc. Among them, the control unit 11 can be a microcontroller (such as Arduino, STM32, PIC, etc.) for executing control algorithms and logic, or a single-board computer (such as Raspberry Pi, BeagleBone, etc.) for providing higher computing power and operating system support, or an embedded system, that is, a dedicated control system, such as a PLC (programmable logic controller). The detection unit can be a distance sensor: such as an ultrasonic sensor, an infrared sensor, a laser rangefinder; an angle sensor: such as a gyroscope, an encoder; a vision sensor: such as a camera, which can be used for image recognition and navigation; a tactile sensor: for detecting the contact between the robot and an object. The communication unit can be used for data transmission between the robot and the outside world, such as Wi-Fi, Bluetooth, ZigBee, RFID, etc.

[0033] The joint assembly 121 includes mechanical legs, that is, a multi-degree-of-freedom servo or hydraulic / pneumatic cylinder can be used to construct a leg structure similar to that of an animal. The wheel foot 122 can be selected from a common wheel, an inflated wheel, a solid wheel, a crawler wheel, etc. according to different ground conditions and movement requirements. A wheel axle is provided on the wheel foot 122 for connecting the wheel foot 122 and the driving member.

[0034] It can be understood that, as Figures 1 - 3 shown in the figure, the joint assembly 121 can be used to control the up-and-down movement of the wheel foot 122, so that the height of the robot body 1 can be adjusted up and down. The attachment foot assembly 2 has a telescopic function, that is, when the robot body 1 is in a walking state, the attachment foot assembly 2 can contract, so that the attachment part 222 is separated from the contact with the ground; when the robot body 1 is in a stationary state, the attachment foot assembly 2 can extend, so that the attachment part 222 is in contact with the ground, ensuring that the robot body 1 generates a greater adhesion force with the ground in the stationary state, can stand more stably, and reduces the influence of external interference on the standing stability of the robot body 1, thereby improving the overall stability of the robot body 1.

[0035] It should be noted that the attachment part 222 and the connecting part can be connected by means of plugging, clamping or screw connection, etc., so that the attachment part 222 can select or replace a component more suitable for the ground according to different ground environments. For example, when standing on a smooth vertical surface, rough rock or slippery water surface, attachment methods such as dry adhesion, wet adhesion, claw spiking, suction cup attachment, and electrostatic adsorption can be used respectively, which not only ensures the adaptability of the robot in multiple environments, but also enhances the task execution ability and simplifies the control system.

[0036] In other words, when the high-stability wheeled or wheel-footed 122 robot based on the adaptive bionic attachment foot device according to the embodiment of the present invention is in a stationary state, the attachment part 222 of the attachment foot assembly 2 can be used to contact the ground, and corresponding bionic feet can be adopted according to different ground morphologies to maintain an upright and stationary posture, so as to effectively improve the standing stability of the wheeled or wheel-footed 122 robot in a complex environment, and at the same time reduce the dependence on a complex attitude control system. In addition, in the walking state, the attachment foot assembly 2 can also be retracted to avoid affecting the normal walking of the robot.

[0037] Optionally, the attachment part 222 has an adhesion surface, which is used to adhere to the ground in the stationary state. It can be understood that the adhesion surface can be a surface made of a viscous material, such as a gecko-inspired dry adhesion surface, that is, by generating van der Waals forces, the attachment part 222 can be firmly adhered to the surface. Of course, the adhesion surface can also be a columnar fiber array dry adhesion surface, a mushroom-shaped dry adhesion surface, a wedge-shaped dry adhesion surface, a smooth dry adhesion surface without microstructures, a single-layer structure dry adhesion surface, a multi-layer structure dry adhesion surface, etc.

[0038] Optionally, the attachment part 222 includes an attachment suction cup, which is used to adsorb on the ground in the stationary state. It can be understood that the attachment suction cup can be a bionic suction cup structure, that is, a local vacuum is formed between the attachment suction cup and the ground, so as to provide a strong adsorption force on a smooth or wet surface. Preferably, the material design of the attachment suction cup has high elasticity and wear resistance, and can maintain stable functions during multiple adhesions and releases. In addition, the attachment suction cup can also be a passive suction cup, an active suction cup, a bionic octopus suction cup, a bionic fish suction cup, a bionic micro-structure suction cup, a suction cup modified with a skirt, a suction cup with an internal support structure, a suction cup with an external support structure, a Bernoulli suction cup, etc.

[0039] Optionally, the attachment part 222 includes a claw mechanism and a tensioning and releasing mechanism, and the tensioning and releasing mechanism is connected to the claw mechanism. In the stationary state, the tensioning and releasing mechanism is used to drive the claw mechanism to grasp and lock on the ground. It can be understood that the claw mechanism is composed of a plurality of retractable claws, and the tensioning and releasing mechanism is usually driven by a spring, a motor or a hydraulic system. That is, the tensioning and releasing mechanism drives the claw mechanism to extend, so that the claws firmly grasp the ground; when release is required, the tensioning and releasing mechanism relaxes and the claws contract. Preferably, the attachment part 222 can be a spiny structure imitating birds and insects, etc., and the claw unit can grasp and lock on a rough ground to form a mechanical lock, which is suitable for use on stony and irregular ground. In addition, the attachment part 222 can also be an imitation eagle claw, an imitation insect micro-spine and its array, a magic tape, etc.

[0040] Optionally, the attachment portion 222 includes an electrostatic generation component. In the stationary state, the electrostatic generation component is used to attach to the ground by electrostatic force. It can be understood that the electrostatic generation component includes a high-voltage power supply and an electrode, and the electrode is usually placed on the surface of the attachment portion 222. That is, static electricity is generated by the high-voltage power supply, so that the surface of the electrode is charged, and the electrostatic force is used to adsorb the object on the ground.

[0041] That is to say, the electrostatic generation component can be an electrostatic generation device. That is, by adding an electrostatic generation device to the bionic attachment module at the bottom of the robot, an electrostatic force is generated through the action of the electric field when contacting the ground, so that the attachment portion 222 attaches to the ground.

[0042] Optionally, the attachment portion 222 includes an electromagnetic induction component. In the stationary state, the electromagnetic induction component is used to magnetically attract the magnetic material on the ground. It can be understood that the electromagnetic induction component includes a coil, a magnet and a controller, and the coil is wound around the magnet. That is, a magnetic field is generated by energizing the coil, and the adsorption is achieved by using the attraction between the magnet and the magnetic material on the ground.

[0043] In other words, the electromagnetic induction component can be an electromagnetic induction device, which can generate a strong magnetic attraction to the wall surface of ferromagnetic materials. The attachment and detachment of the attachment module can be controlled by controlling the on-off of the current.

[0044] In some embodiments, the connecting member 21 includes a first connecting portion 211 and a second connecting portion 212. The first connecting portion 211 is connected to the joint assembly 121, and the first connecting portion 211 is rotatable about a first axial direction, and the second connecting portion 212 is connected to the first connecting portion 211, and the second connecting portion 212 is movable along the extending direction of a second axial direction.

[0045] Specifically, as Figures 1 - 3 shown, the first connecting portion 211 is located at the upper end of the second connecting portion 212. A connecting plate 213 is provided at the upper end of the first connecting portion 211, and the first connecting portion 211 is connected to the joint assembly 121 through the connecting plate 213. A connecting motor is further provided at the upper end of the first connecting portion 211, and the connecting motor is connected to the connecting plate 213. When the connecting motor is started, the first connecting portion 211 can rotate circumferentially about the output shaft of the connecting motor, so as to control the rotation of the second connecting portion 212, so that the attachment foot assembly 2 can rotate relative to the joint assembly 121.

[0046] It is understood that the second connection portion 212 can be a structure with a reciprocating function, such as a linear push rod, a pneumatic cylinder, or an oil cylinder. When the robot changes from a walking state to a parked state, the first connection portion 211 controls the rotation of the second connection portion 212, and the second connection portion 212 extends to allow the attachment portion 222 to contact the ground, thereby ensuring that the robot has a greater adhesion to the ground, thereby significantly improving the robot's anti-interference ability, load capacity, and task execution ability in a stationary state. Conversely, when the robot changes from a parked state to a walking state, the second connection portion 212 retracts and the first connection portion 211 rotates, placing the attachment foot assembly on one side of the joint assembly 121 to avoid collision with other external equipment or structures.

[0047] In some embodiments, the rotating portion 221 includes a rotating body 2211 and a rotating base 2212 . The rotating body 2211 is connected to the second connecting portion 212 . The rotating base 2212 is connected to the lower end of the rotating body 2211 and is rotatable relative to the rotating body 2211 .

[0048] Specifically, if Figures 1 - 3 As shown, the rotating body 2211 is connected to the upper end of the rotating base 2212, and a sphere is provided at the upper end of the rotating base 2212. A ball groove matching the sphere is provided at the lower end of the rotating body 2211, so that the rotating body 2211 and the rotating base 2212 can be ball-jointed, so that the rotating base 2212 can automatically perform adaptive adjustment on the undulating ground.

[0049] It can be understood that the rotating base 2212 can rotate with three degrees of freedom around the point where the lower end of the rotating body 2211 (the center of the ball groove) is located, so that when the ground is uneven, the position of the attachment part 222 can be automatically adjusted to be consistent with the ground, thereby ensuring the attachment effect.

[0050] Preferably, the rotating part 221 also includes an elastic member 2213, the first end of the elastic member 2213 is connected to the rotating body 2211, and the second end of the elastic member 2213 is connected to the rotating base 2212. There are multiple elastic members 2213, and the multiple elastic members 2213 are arranged at intervals along the circumference of the second connecting part 212.

[0051] Specifically, if Figures 1 - 3 As shown, the upper end of the elastic member 2213 is connected to the rotating body 2211, and the lower end of the elastic member 2213 is connected to the rotating base 2212. The elastic member 2213 can be a spring, and when the center lines of the rotating body 2211 and the rotating base 2212 coincide, the elastic member 2213 is in an initial state.

[0052] It can be understood that when the attachment part 222 is not in contact with the ground, the attachment part 222 is in its initial pose. When the attachment part 222 contacts the ground and the rotating base 2212 rotates relative to the rotating body 2211 (i.e., when the pose of the attachment part 222 changes), the elastic member 2213 is deformed by force (stretched or contracted). When the second connecting part 212 contracts, the rotating base 2212 returns to its original state under the elastic force of the elastic member 2213, causing the attachment part 222 to return to its initial pose.

[0053] Preferably, among the plurality of elastic members 2213, the spacing distance between every two adjacent elastic members 2213 is equal.

[0054] In some embodiments, the rotating part 221 further includes a buffer pad 223, and the buffer pad 223 is located between the attachment part 222 and the rotating base 2212 in the extending direction of the second connecting part 212. It can be understood that the material of the buffer pad 223 can be polyurethane foam, or other durable and soft materials such as silica gel, so as to effectively absorb the impact force generated when the robot stands or walks.

[0055] In some embodiments, the attachment foot assembly 2 further includes a detection member, the detection member is connected to the attachment part 222, and the detection member is used to detect the pose and pressure of the attachment part 222.

[0056] It can be understood that the detection member is connected to the robot control unit 11 and detects the contact situation between the robot and the ground through the detection unit. When the robot is stationary and performing a task, the joint assembly 121 first controls the first connecting part 211 and the second connecting part 212 to rotate and push out the attachment part 222, and then the second connecting part 212 controls the attachment unit to approach and fit with the ground. The detection member activates the attachment part 222, so that the attachment part 222 is in full contact with the ground and quickly generates adhesion force; when the robot is about to start moving, the control unit 11 controls the attachment part 222 to switch to the detachment state. The second connecting part 212 first controls the attachment part 222 to detach and move away from the ground, and then the first connecting part 211 and the second connecting part 212 control the attachment part 222 to retract the robot to the joint assembly 121 to ensure the normal movement of the robot.

[0057] Thus, the highly stable wheeled or wheel-legged robot with an adaptive bionic attachment foot device according to the embodiments of the present invention can generate a large adhesion force through the attachment foot assembly 2 when in a stationary state, ensuring that it can stand more stably, effectively reducing the influence of external interference on the standing stability. Moreover, due to the introduction of the attachment effect, the dependence of the robot on complex balance control in the stationary state is greatly reduced, the requirements for sensor data processing and real-time calculation are reduced, the design of the control system is simplified, and the task execution ability of the robot is enhanced, that is, the attachment foot assembly 2 can improve the load capacity of the robot in the stationary state and the reaction force when performing tasks, enabling it to withstand greater operating forces in the stationary state.

[0058] In addition, the highly stable wheeled or wheel-legged robot with an adaptive bionic attachment foot device according to the embodiments of the present invention has strong multi-environment adaptability, that is, the attachment part 222 can select an appropriate attachment method according to different ground conditions, thereby improving the environmental adaptability and versatility. Preferably, the attachment foot assembly 2 can also adopt a modular design, which is convenient for replacement, upgrade and maintenance, and is applicable to various application scenarios of wheeled or wheel-legged robots.

[0059] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0060] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0061] In the present invention, unless otherwise clearly specified or limited, terms such as "installed", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral body; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0062] In the present invention, unless otherwise clearly specified or limited, a first feature being "on" or "under" a second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, a first feature being "above", "over" and "on top of" a second feature may be that the first feature is directly above or obliquely above the second feature, or merely means that the horizontal height of the first feature is higher than that of the second feature. A first feature being "under", "below" and "beneath" a second feature may be that the first feature is directly below or obliquely below the second feature, or merely means that the horizontal height of the first feature is less than that of the second feature.

[0063] In the present invention, terms such as "an embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0064] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A highly stable robot based on a bionic attachment-assisted standing device, characterized in that Comprising: A robot body, the robot body includes a control unit and a walking unit, the control unit includes a driving member and a control member, the walking unit includes a joint assembly and wheel feet, the joint assembly connects the control unit and the wheel feet, and the joint assembly is used to drive the wheel feet to move in the height direction of the robot body, the driving member is used to drive the wheel feet to rotate, and the control member is connected to the driving member to issue a control instruction to the driving member; An attachment foot assembly, the attachment foot assembly is connected to the joint assembly, the attachment foot assembly includes a connecting member and a buffer member, the connecting member is connected between the joint assembly and the buffer member, the connecting member is movable relative to the joint assembly, the buffer member includes a rotating portion and an attachment portion, the rotating portion is connected to the connecting member and the rotating portion is rotatable relative to the connecting member, and the attachment portion is detachably connected to the rotating portion and is located on the side of the rotating portion adjacent to the ground; The robot body has a walking state and a stationary state. In the walking state, the attachment foot assembly is spaced apart from the ground; in the stationary state, the attachment portion is used to attach to the ground.

2. The highly stable robot based on the bionic attachment-assisted standing device according to claim 1, wherein The attachment portion has an adhesion surface, and in the stationary state, the adhesion surface is used to adhere to the ground.

3. The highly stable robot based on the bionic attachment-assisted standing device according to claim 1, characterized in that, The attachment portion includes an attachment suction cup, and in the stationary state, the attachment suction cup is used to adsorb on the ground.

4. The highly stable robot based on the bionic adhesion-assisted standing device according to claim 1, wherein, The attachment portion includes a claw mechanism and a tensioning and releasing mechanism, the tensioning and releasing mechanism is connected to the claw mechanism, and in the stationary state, the tensioning and releasing mechanism is used to drive the claw mechanism to grip and lock on the ground.

5. The highly stable robot based on the bionic attachment-assisted standing device according to claim 1, wherein, The attachment portion includes an electrostatic generating component, and in the stationary state, the electrostatic generating component is used to attach to the ground by electrostatic force.

6. The highly stable robot based on the bionic attachment-assisted standing device according to claim 1, wherein The attachment portion includes an electromagnetic induction component, and in the stationary state, the electromagnetic induction component is used to magnetically attract a magnetic material on the ground.

7. The highly stable robot based on the bionic adhesion-assisted standing device according to any one of claims 1-6, characterized in that The connecting member includes a first connecting portion and a second connecting portion, the first connecting portion is connected to the joint assembly, and the first connecting portion is rotatable about a first axis, the second connecting portion is connected to the first connecting portion, and the second connecting portion is movable along the extending direction of a second axis.

8. The highly stable robot based on the bionic attachment-assisted standing device according to claim 7, wherein, The rotating portion includes a rotating body and a rotating base, the rotating body is connected to the second connecting portion, the rotating base is connected to the lower end of the rotating body and the rotating base is rotatable relative to the rotating body.

9. The highly stable robot based on the bionic attachment-assisted standing device according to claim 8, wherein, The rotating portion further includes an elastic member, a first end of the elastic member is connected to the rotating body, a second end of the elastic member is connected to the rotating base, there are multiple elastic members, and the multiple elastic members are arranged at intervals along the circumference of the second connecting portion.

10. The highly stable robot based on the bionic attachment-assisted standing device according to claim 9, characterized in that, The rotating portion further includes a buffer pad, and the buffer pad is located between the attachment portion and the rotating base in the extending direction of the second connecting portion.

11. The highly stable robot based on the bionic attachment-assisted standing device according to claim 10, wherein, The attachment foot assembly further includes a detecting member, the detecting member is connected to the attachment portion, and the detecting member is used to detect the attitude and pressure of the attachment portion.

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