A biomimetic gecko robot

Abstract

This invention discloses a biomimetic gecko robot, belonging to the field of robotics technology. The invention includes a robot torso, head, and tail. The left end of the robot torso is movably connected to the head via a joint axis, while the right end is fixedly connected to the tail. Two pairs of mechanical walking legs are retractably mounted on the sides of the robot torso. Each mechanical walking leg consists of a thigh assembly, a lower leg assembly, a mechanical foot forefoot, and a crawling claw. The thigh assembly is retractably mounted on the side of the robot torso. This invention employs a multi-legged crawling structure, mimicking the crawling behavior of animals in nature, giving the robot excellent ceiling-climbing ability. Furthermore, the robot adopts a modular design; each mechanical leg includes a drive module, a sensor module, and a control module, facilitating maintenance and upgrades. Through the processing and analysis of sensor-detected signals, the robot can perceive its surrounding environment, assisting it in completing cleaning tasks.

Description

Technical Field

[0001] This invention relates to a robot, specifically a biomimetic gecko robot. Background Technology

[0002] To improve robot performance, bionics has been applied to robot development and research. By imitating existing organisms in nature and combining their superior structures and physical properties, bionic robots with biological characteristics can be obtained that are more advanced than naturally occurring systems in certain aspects. Bionic robots can adapt to different environments, have a wide range of activities, strong risk avoidance and survivability, and high mobility, showing great promise for applications. Among them, the bionic gecko robot that can climb walls is a hot topic in bionic robot development.

[0003] However, existing bionic gecko robots lack adaptability. Some use fans to generate negative pressure, allowing the robot to adhere to a wall and move using wheels; others use an external air compressor and a vacuum generator to create negative pressure, enabling suction cups on their feet to move. These robots have relatively simple movement patterns and fixed structures, generally allowing movement in relatively flat environments. Therefore, existing bionic gecko robots can only operate under specific conditions, and their environmental adaptability needs improvement. In view of this, this invention designs a highly flexible bionic gecko cleaning robot. Summary of the Invention

[0004] The main objective of this disclosure is to provide a biomimetic gecko robot to effectively solve the problems raised by the inventors in the aforementioned background art.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A biomimetic gecko robot includes a robot torso, a head, and a tail. The torso's left end is movably connected to the head via a joint axis, and its right end is fixedly connected to the tail. Two pairs of mechanical walking legs are retractably mounted on the sides of the torso. Each mechanical walking leg consists of a thigh assembly, a lower leg assembly, a mechanical foot forefoot, and a crawling claw. The thigh assembly is retractably mounted on the side of the torso. The lower leg assembly is movably connected to the thigh assembly, and the other end of the lower leg assembly is connected to the mechanical foot forefoot. A retractable, downward-pressing exhaust suction cup is installed at the palm of the mechanical foot forefoot. A crawling claw is fixedly mounted on the side of the mechanical foot forefoot away from the lower leg assembly, and a silicone finger sleeve is fixedly attached to the crawling claw.

[0006] Preferably, the robot torso includes a first body and a second body, the first body is connected to the head, the second body is connected to the tail, and the first body and the second body are movably connected as one unit through several soft joint components. Two pairs of mechanical walking legs are respectively installed on the sides of the first body and the second body. A lint cleaning device is installed at the bottom of the first body, and a vacuum cleaning device is installed at the bottom of the second body.

[0007] Preferably, the thigh assembly includes a mechanical foot pivot, a rear telescopic rod, and a wiring assembly; the lower leg assembly includes a mechanical foot joint protection shaft, a front telescopic rod, and a wiring assembly. The mechanical foot pivot is rotatably mounted on the thigh assembly, and the lower leg assembly is movably connected to the thigh assembly via the mechanical foot joint protection shaft. The rear telescopic rod is mounted on the inner side of the thigh assembly, and the front telescopic rod is mounted on the lower leg assembly. Both the rear telescopic rod and the front telescopic rod are adapted to the wiring assembly mounted on the mechanical walking foot.

[0008] Preferably, a connecting shaft is installed on the side of both the first body and the second body, and a mounting bracket is fixedly connected to the outer end of the connecting shaft. A sensor module is installed on the mounting bracket, and the sensor module includes an ultrasonic sensor, an infrared sensor and a contact sensor.

[0009] Preferably, the lint cleaning device includes an adjustable telescopic rod, a rotating cleaning mechanism, and a rotating spray nozzle. The adjustable telescopic rod is mounted on the first body, and the bottom end of the adjustable telescopic rod is fixedly connected to the rotating cleaning mechanism. The rotating spray nozzle is rotatably mounted on the rotating cleaning mechanism.

[0010] Preferably, a rotating vacuum cleaning ball is rotatably mounted on the bottom of the vacuum cleaning device, and the surface of the rotating vacuum cleaning ball is provided with evenly distributed vacuum mesh holes.

[0011] Preferably, the head has two symmetrically arranged eye holes, and a camera scanner is installed in the eye holes.

[0012] Preferably, the bottom of the silicone finger sleeve is fixedly connected to an adhesive fingertip, and the adhesive fingertip is provided with evenly distributed tiny hooks.

[0013] In view of this, compared with the prior art, the beneficial effects of the present invention are: (i) In this application, a multi-legged crawling structure is adopted to imitate the crawling method of animals in nature, so that the robot has good ceiling crawling ability. At the same time, the robot adopts a modular design, and each mechanical leg contains a drive module, a sensor module and a control module, which facilitates maintenance and upgrades.

[0014] (ii) In this application, a variety of sensors such as ultrasonic sensors, infrared sensors and contact sensors are selected to form a multi-sensor system. By processing and analyzing the sensor detection signals, the system can perceive the surrounding environment and help the robot complete the cleaning task.

[0015] (iii) In this application, the main function of the lint cleaning device is to clean the surface of the object quickly and comprehensively, and it is equipped with a spray nozzle on top to effectively clean alcohol-soluble stains.

[0016] (iv) In this application, the main function of the vacuum cleaner is to adsorb fine dust and perform secondary cleaning on objects, which is more delicate and comprehensive. Attached Figure Description

[0017] Figure 1 The image shown is a three-dimensional view of the biomimetic gecko robot structure provided by this invention. Figure 2 The diagram shown is an exploded view of the connection between the robot's torso, the lint-removing device, and the main vacuum cleaning device. Figure 3 The image shown is a three-dimensional view of a pair of mechanical walking legs; Figure 4 The image shown is a bottom view of a pair of mechanical walking legs; Figure 5 The image shown is a three-dimensional view of the mechanical walking foot from another perspective; Figure 6 As shown Figure 5 Cross-sectional view at point AA; Figure 7 The image shown is a side view of the mechanical walking leg; Figure 8 The image shown is a 3D view of a rotating vacuum cleaning ball; Figure 9 The image shown is a three-dimensional view of the lint removal device.

[0018] icon: 1-Robot torso; 101-First body; 102-Second body; 103-Soft joint assembly; 2-Head; 201-Camera scanner; 3-Tail; 4-Thigh assembly; 401-Mechanical foot pivot; 402-Rear telescopic rod; 403-Circuit assembly; 5-Lower leg assembly; 501-Mechanical foot joint protection shaft; 502-Front telescopic rod; 6-Mechanical foot forefoot; 601-Retractable downward-pressing exhaust suction cup; 7-Silicone finger sleeve; 8-Glue-adhesive fingertip; 9-Connecting shaft; 10-Mounting frame; 11-Sensor module; 12-Plush cleaning device; 121-Up-down adjustable telescopic rod; 122-Rotating cleaning mechanism; 123-Rotating spray nozzle; 13-Vacuum cleaning body; 14-Rotating vacuum cleaning ball; 141-Vacuum mesh. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see Figure 1-9 The present invention provides the following embodiments: A biomimetic gecko robot includes a robot torso 1, a head 2, and a tail 3. The torso 1 is characterized by its left end being movably connected to the head 2 via a joint axis, and its right end being fixedly connected to the tail 3. Two pairs of mechanical walking legs are retractably mounted on the sides of the torso 1. Each mechanical walking leg consists of a thigh assembly 4, a lower leg assembly 5, a mechanical foot forefoot 6, and a crawling claw. The thigh assembly 4 is retractably mounted on the side of the torso 1, and the lower leg assembly 5 is movably connected to the thigh assembly 4. The other end of the lower leg assembly 5 is connected to the mechanical foot forefoot 6, and a claw is mounted on the palm of the mechanical foot forefoot 6. The mechanical foot has a retractable, downward-pressing exhaust suction cup 601. A crawling claw is fixedly installed on the side of the forefoot 6 away from the lower leg assembly 5, and a silicone finger sleeve 7 is fixedly connected to the crawling claw. A gel adhesion fingertip 8 is fixedly connected to the bottom of the silicone finger sleeve 7, and the gel adhesion fingertip 8 is provided with uniformly distributed micro-hooks. The microstructure of the gecko's foot enables it to form a monomolecular-thickness adhesion layer on various smooth surfaces through van der Waals forces and intermolecular attraction. Robotic mechanical feet usually use pressure-sensitive adhesion materials, such as rubber or other materials with high adhesion, to simulate this process.

[0021] Specifically, the robot torso 1 includes a first body 101 and a second body 102. The first body 101 is connected to the head 2, and the second body 102 is connected to the tail 3. The first body 101 and the second body 102 are movably connected as one unit through several soft joint components 103. Two pairs of mechanical walking legs are respectively installed on the sides of the first body 101 and the second body 102. A lint cleaning device 12 is installed at the bottom of the first body 101, and a vacuum cleaning device 13 is installed at the bottom of the second body 102.

[0022] Specifically, the plush cleaning device 12 includes an adjustable telescopic rod 121, a rotating cleaning mechanism 122, and a rotating spray nozzle 123. The adjustable telescopic rod 121 is mounted on the first body 101, and the rotating cleaning mechanism 122 is fixedly connected to the bottom end of the adjustable telescopic rod 121. The rotating spray nozzle 123 is rotatably mounted on the rotating cleaning mechanism 122 to perform relatively quick and overall cleaning of the object surface. In addition, the spray nozzle is mounted on top to effectively clean alcohol-soluble stains. The bottom of the vacuum cleaning device 13 has a rotating vacuum cleaning ball 14 rotatably mounted, and the surface of the rotating vacuum cleaning ball 14 has evenly distributed vacuum mesh holes 141 to adsorb finer dust and perform secondary cleaning of the object, which is more delicate and comprehensive.

[0023] Specifically, the thigh assembly 4 includes a mechanical foot pivot 401, a rear telescopic rod 402, and a wiring assembly 403. The lower leg assembly 5 includes a mechanical foot joint protection shaft 501, a front telescopic rod 502, and a wiring assembly 403. The mechanical foot pivot 401 is rotatably mounted on the thigh assembly 4. The lower leg assembly 5 is movably connected to the thigh assembly 4 via the mechanical foot joint protection shaft 501. The rear telescopic rod 402 is mounted on the inner side of the thigh assembly 4, and the front telescopic rod 502 is mounted on the lower leg assembly 5. Both the rear telescopic rod 402 and the front telescopic rod 502 are adapted to the wiring assembly 403 mounted on the mechanical walking foot, thereby enhancing the flexibility of the mechanical walking foot.

[0024] Specifically, connecting shafts 9 are installed on the sides of both the first body 101 and the second body 102. A mounting bracket 10 is fixedly connected to the outer end of the connecting shaft 9, and a sensor module 11 is installed on the mounting bracket 10. The sensor module 11 includes an ultrasonic sensor, an infrared sensor and a contact sensor. By processing and analyzing the sensor detection signals, the robot can perceive the surrounding environment and help it complete the cleaning task.

[0025] Specifically, the head 2 has two symmetrically arranged eye holes, and a camera scanner 201 is installed in the eye holes for visual recognition and navigation.

[0026] The specific implementation of this embodiment is as follows: The mechanical walking legs of the gecko robot refer to the robot leg components designed and manufactured in imitation of the gecko's foot structure. They enable the robot to climb and walk on vertical surfaces such as walls and ceilings. The special structure of the gecko's feet enables it to achieve strong adhesion to various surfaces. This ability is widely used in robotics, especially in situations where climbing or attaching to unstructured surfaces is required. Gecko feet typically have fine hairs or textures, which help increase the contact area and adhesion. The robot's mechanical legs adopt a similar design, for example, by using tiny hooks to increase contact with the surface. The mechanical walking legs also need to have a certain degree of flexibility to move and climb effectively in different environments, complete challenging cleaning tasks, replace manual cleaning, and are safe and reliable.

[0027] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0028] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A biomimetic gecko robot, comprising a robot torso (1), a head (2), and a tail (3), characterized in that: The left end of the robot torso (1) is movably connected to the head (2) via a joint axis, and the right end is fixedly connected to the tail (3). Two pairs of mechanical walking feet are telescopically installed on the side of the robot torso (1). The mechanical walking feet consist of a thigh assembly (4), a lower leg assembly (5), a mechanical foot forefoot (6), and a crawling claw. The thigh assembly (4) is telescopically installed on the side of the robot torso (1). The lower leg assembly (5) is movably connected to the thigh assembly (4), and the other end of the lower leg assembly (5) is connected to the mechanical foot forefoot (6). A telescopic downward pressure exhaust suction cup (601) is installed at the palm of the mechanical foot forefoot (6). A crawling claw is fixedly installed on the side of the mechanical foot forefoot (6) away from the lower leg assembly (5), and a silicone finger sleeve (7) is fixedly connected to the crawling claw.

2. The biomimetic gecko robot according to claim 1, characterized in that: The robot torso (1) includes a first body (101) and a second body (102). The first body (101) is connected to the head (2), and the second body (102) is connected to the tail (3). The first body (101) and the second body (102) are movably connected as one unit through several soft joint components (103). Two pairs of mechanical walking feet are respectively installed on the sides of the first body (101) and the second body (102). A lint cleaning device (12) is installed at the bottom of the first body (101), and a vacuum cleaning device (13) is installed at the bottom of the second body (102).

3. The biomimetic gecko robot according to claim 1, characterized in that: The thigh assembly (4) includes a mechanical foot pivot (401), a rear telescopic rod (402), and a wiring assembly (403). The lower leg assembly (5) includes a mechanical foot joint protection shaft (501), a front telescopic rod (502), and a wiring assembly (403). The mechanical foot pivot (401) is rotatably mounted on the thigh assembly (4). The lower leg assembly (5) and the thigh assembly (4) are movably connected through the mechanical foot joint protection shaft (501). The rear telescopic rod (402) is mounted on the inner side of the thigh assembly (4). The front telescopic rod (502) is mounted on the lower leg assembly (5). Both the rear telescopic rod (402) and the front telescopic rod (502) are adapted to be equipped with a wiring assembly (403) mounted on the mechanical walking foot.

4. The biomimetic gecko robot according to claim 2, characterized in that: The first body (101) and the second body (102) are each equipped with a connecting shaft (9). The outer end of the connecting shaft (9) is fixedly connected to a mounting bracket (10), and a sensor module (11) is installed on the mounting bracket (10). The sensor module (11) includes an ultrasonic sensor, an infrared sensor and a contact sensor.

5. A biomimetic gecko robot according to claim 2, characterized in that: The plush cleaning device (12) includes an adjustable telescopic rod (121), a rotating cleaning mechanism (122), and a rotating spray nozzle (123). The adjustable telescopic rod (121) is mounted on the first body (101), and the bottom end of the adjustable telescopic rod (121) is fixedly connected to the rotating cleaning mechanism (122). The rotating spray nozzle (123) is rotatably mounted on the rotating cleaning mechanism (122).

6. A biomimetic gecko robot according to claim 5, characterized in that: The bottom of the vacuum cleaner body cleaning device (13) is rotatably mounted with a rotating vacuum cleaning ball (14), and the surface of the rotating vacuum cleaning ball (14) is provided with uniformly distributed vacuum mesh holes (141).

7. A biomimetic gecko robot according to claim 1, characterized in that: The head (2) has two symmetrically arranged eye holes, and a camera scanner (201) is installed in the eye holes.

8. A biomimetic gecko robot according to claim 3, characterized in that: The bottom of the silicone finger sleeve (7) is fixedly connected to a glue-adhesive fingertip (8), and the glue-adhesive fingertip (8) is provided with uniformly distributed tiny hooks.

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