Gecko bionic disaster relief robot

Abstract

The utility model discloses a gecko bionic disaster relief robot which comprises a gecko robot body, a leg mechanism used for moving is arranged on the gecko robot body, the leg mechanism comprises an adsorption body, the gecko robot body is connected with the adsorption body through a moving structure, and a main suction cup structure and an auxiliary suction cup structure are arranged on the adsorption body. The main suction cup structure comprises a first suction cup connected with the adsorption body, and the auxiliary suction cup structure comprises a second suction cup connected with the adsorption body. According to the gecko bionic disaster relief robot with the structure, the auxiliary suction cup structure drives the second suction cup to stretch out through the air cylinder, the robot can continue to climb a wall through the second suction cup after the first suction cup is damaged, immediate maintenance is not needed, and emergency use of the robot can be achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of gecko bionic robots, in particular to a gecko bionic disaster relief robot. Background Art

[0002] my country has a large land area and complex geographical conditions, and natural disasters occur from time to time. Due to the complex conditions in the disaster-stricken areas, it is difficult for rescue workers to obtain the situation in the dangerous areas in the first time, which brings great difficulties to the rescue work. Practice has proved that robots are competent for some dangerous rescue work. Legged robots have strong terrain adaptability, strong mobility, wide working range, good stability, and can complete tasks such as emergency rescue and disaster relief. Therefore, in-depth research on legged robots is of great significance to earthquake disaster relief.

[0003] In nature, geckos can easily crawl freely on the surface of ceilings, thanks to their full control of the adsorption characteristics of their feet, but existing research results do not involve the exploration of the control methods of the feet or the mechanism of gait during movement. The feet of geckos can generate van der Waals forces and have anisotropic adhesion properties: when adhering, the bottom surface of the foot can provide greater adhesion in one direction, while the adhesion in the opposite direction is relatively less, which is conducive to the detachment of the foot and the more difficult movement process. The adsorption mechanism and movement method of geckos provide a new way to overcome the current technical bottleneck of bionic wall-climbing robots.

[0004] At present, the wall-climbing robots developed at home and abroad can crawl on smooth walls. These robots all adopt the dry attachment method. If a suction cup on the mechanical arm of the wall-climbing robot is damaged and cannot be attached, it needs to be repaired and replaced, and the repair cycle is long, and it cannot be used in an emergency. Utility Model Content

[0005] The utility model aims to provide a gecko bionic disaster relief robot. After the main suction cup is damaged, the robot can complete the wall climbing work through the auxiliary suction cup structure, so that the robot can be used in an emergency.

[0006] To achieve the above-mentioned purpose, the utility model provides a gecko bionic disaster relief robot, including a gecko robot body, a leg mechanism for movement is arranged on the gecko robot body, the leg mechanism includes an adsorption body, the gecko robot body is connected to the adsorption body through a moving structure, a main suction cup structure and an auxiliary suction cup structure are arranged on the adsorption body, the main suction cup structure includes suction cup one, suction cup one is connected to the adsorption body, and the auxiliary suction cup structure includes suction cup two, suction cup two is connected to the adsorption body.

[0007] Preferably, four groups of leg mechanisms are provided, and the four groups of leg mechanisms are respectively arranged at the four corners of the gecko robot body.

[0008] Preferably, the mobile structure includes a movable frame 1, which is rotatably arranged on the gecko robot body, a movable frame 2 is rotatably arranged on the movable frame 1, a movable frame 3 is rotatably arranged on the movable frame 2, and the movable frame 3 is connected to the top of the adsorbent through a connecting frame.

[0009] Preferably, a mounting frame 1 is provided on the gecko robot body, the mounting frame 1 is connected to the mounting frame 2 through a connecting seat, a servo 1 is provided on the mounting frame 1, the servo 1 is connected to one end of the movable frame 1, and the other end of the movable frame 1 is rotatably connected to the mounting frame 2.

[0010] Preferably, a servo 2 is arranged on the movable frame 1, and the servo 2 is connected to one end of the movable frame 2. A servo 3 is arranged on the other end of the movable frame 2, and the servo 3 is connected to one end of the movable frame 3. The other end of the movable frame 3 is connected to the connecting frame.

[0011] Preferably, a fixed block is provided in the adsorption body, the fixed block is connected to one end of a linear bearing through a connecting rod, the other end of the linear bearing is connected to a suction cup, a spring is provided on the connecting rod, and the spring is provided between the fixed block and the linear bearing.

[0012] Preferably, a fixing block 2 is provided in the adsorption body, the fixing block 2 is connected to one end of the linear bearing 2 through a connecting rod 2, the other end of the linear bearing 2 is connected to the suction cup 2, and a spring 2 is provided on the connecting rod 2, and the spring 2 is arranged between the fixing block 2 and the linear bearing 2.

[0013] Preferably, a cylinder is provided at the top of the adsorbent, the cylinder is connected to the lifting block via a cylinder rod, and the lifting block is connected to the second fixed block via a connecting piece.

[0014] Preferably, a camera seat is provided on the gecko robot body.

[0015] Therefore, the utility model adopts a gecko bionic disaster relief robot with the above structure, wherein the servo 1 can drive the movable frame 1 to rotate, thereby controlling the lifting or falling of the entire leg of the robot; the servo 2 drives the movable frame 2 to rotate, thereby driving the movable frame 3 to move, the servo 3 drives the movable frame 3 to rotate, thereby driving the connecting frame to move, and the servo 2 and the servo 3 work together to control the robot's forward, backward, and steering functions, so that the gecko robot can move and explore. The main suction cup structure can make the gecko robot stay or move on a smooth place through the suction cup 1, and can also make the gecko robot hang upside down on the top of an object, and the auxiliary suction cup structure drives the suction cup 2 to extend through the cylinder, so that the gecko robot can continue to climb the wall through the suction cup 2 after the suction cup 1 is damaged, and does not need to be repaired immediately, so that the robot can be used in an emergency.

[0016] The technical solution of the utility model is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the utility model;

[0018] Figure 2 A schematic diagram of a mobile structure of an embodiment of the utility model;

[0019] Figure 3 This is a schematic diagram of the adsorption structure of an embodiment of the utility model;

[0020] Figure 4 A top view of an adsorbent according to an embodiment of the utility model;

[0021] Figure 5 This is a schematic diagram of the connection of the connector according to an embodiment of the utility model.

[0022] Reference numerals

[0023] 1. Gecko robot body; 2. Mounting frame 1; 3. Connecting seat; 4. Mounting frame 2; 5. Movable frame 1; 6. Movable frame 2; 7. Movable frame 3; 8. Connecting frame; 9. Servo 1; 10. Servo 2; 11. Servo 3; 12. Adsorbent; 13. Fixed block 1; 14. Connecting rod 1; 15. Linear bearing 1; 16. Suction cup 1; 17. Spring 1; 18. Fixed block 2; 19. Connecting rod 2; 20. Linear bearing 2; 21. Suction cup 2; 22. Spring 2; 23. Cylinder; 24. Lifting block; 25. Connector; 26. Camera seat. DETAILED DESCRIPTION

[0024] The technical solution of the utility model is further described below through the accompanying drawings and embodiments.

[0025] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the usual meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. The words "include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, but do not exclude other elements or objects. The terms "set", "install" and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal connection of two elements. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0026] Example

[0027] As shown in the figure, the gecko bionic disaster relief robot described in the utility model includes a gecko robot body 1, and a leg mechanism for movement is arranged on the gecko robot body 1. There are four groups of leg mechanisms, and the four groups of leg mechanisms are respectively arranged at the four corners of the gecko robot body 1. The four groups of leg mechanisms adopt the same structure, and the four groups of leg mechanisms are symmetrically distributed in space. A camera seat 26 is arranged on the gecko robot body 1, and the camera seat 26 is used to set a camera.

[0028] The leg mechanism includes an adsorbent 12, and the gecko robot body 1 is connected to the adsorbent 12 through a mobile structure. The mobile structure includes a movable frame 15, which is rotatably arranged on the gecko robot body 1, and a movable frame 26 is rotatably arranged on the movable frame 15. A movable frame 37 is rotatably arranged on the movable frame 26, and the movable frame 37 is connected to the top of the adsorbent 12 through a connecting frame 8. A mounting frame 12 is arranged on the gecko robot body 1, and the mounting frame 12 is connected to the mounting frame 24 through a connecting seat 3. A servo 19 is arranged on the mounting frame 2, and the servo 19 is connected to one end of the movable frame 15, and the other end of the movable frame 15 is rotatably connected to the mounting frame 24. A servo 210 is arranged on the movable frame 15, and the servo 210 is connected to one end of the movable frame 26. A servo 311 is arranged on the other end of the movable frame 26, and the servo 311 is connected to one end of the movable frame 37, and the other end of the movable frame 37 is connected to the connecting frame 8. The steering gear 1 9 drives the movable frame 1 5 to rotate, and the rotation of the movable frame 1 5 can drive the movement of the entire leg of the robot, thereby controlling the lifting or lowering of the entire leg of the robot. The steering gear 2 10 drives the movable frame 2 6 to rotate, thereby driving the movable frame 3 7 to move, and the steering gear 3 11 drives the movable frame 3 7 to rotate, thereby driving the connecting frame 8 to move. The steering gear 2 10 and the steering gear 3 11 work together to control the robot's forward, backward, and steering functions, allowing the robot to move and explore.

[0029] The adsorbent 12 is provided with a main suction cup structure and an auxiliary suction cup structure. A cavity is provided in the adsorbent 12, and the main suction cup structure and the auxiliary suction cup structure are both provided in the cavity. The main suction cup structure includes a suction cup 16, and the suction cup 16 is connected to the adsorbent 12. A fixed block 13 is provided in the adsorbent 12, and the fixed block 13 is connected to one end of a linear bearing 15 through a connecting rod 14, and the other end of the linear bearing 15 is connected to the suction cup 16. A spring 17 is provided on the connecting rod 14, and the spring 17 is provided between the fixed block 13 and the linear bearing 15. When the robot's legs fall down, when the suction cup 16 contacts the smooth surface, the linear bearing 15 is pushed upward, and the linear bearing 15 squeezes the spring 17 on the connecting rod 14, and the spring 17 is squeezed by the fixed block 13 and the linear bearing 15 to generate elastic force, and the spring 17 plays a buffering role.

[0030] The auxiliary suction cup structure includes a suction cup 21, which is connected to the adsorbent 12. A fixed block 21 is provided in the adsorbent 12, and the fixed block 218 is connected to one end of a linear bearing 20 through a connecting rod 219, and the other end of the linear bearing 20 is connected to the suction cup 21. A spring 22 is provided on the connecting rod 219, and the spring 22 is provided between the fixed block 218 and the linear bearing 20. A cylinder 23 is provided at the top of the adsorbent 12, and the cylinder 23 is connected to the lifting block 24 through a cylinder rod, and the lifting block 24 is connected to the fixed block 18 through a connecting piece 25. Both the suction cup 16 and the suction cup 21 adopt vacuum suction cups. When the auxiliary suction cup needs to work, the cylinder rod of the cylinder 23 drives the lifting block 24 to descend, and the lifting block 24 drives the fixed block 18 to descend through the connecting piece 25, thereby driving the suction cup 21 to descend. When the suction cup 21 contacts the smooth surface, the linear bearing 20 is pushed upward, and the linear bearing 20 squeezes the spring 22 on the connecting rod 19. The spring 22 is squeezed by the fixed block 18 and the linear bearing 20 to generate elastic force, and the spring 22 plays a buffering role.

[0031] The gecko robot body 1 is provided with a controller, and the servo 1 9, servo 2 10, servo 3 11, and cylinder 23 are electrically connected to the controller using an existing structure, and the controller is wirelessly connected to the remote controller, and the movement of the robot can be controlled by the remote controller. The structures of the suction cup 1 and the suction cup 2 are the same as those of the existing wall-climbing robot.

[0032] When in use, the robot is attached to the smooth surface through the suction cup 16, and the steering gear 19 drives the robot's legs to lift up, and the suction cup 16 is no longer attached. The steering gear 210 drives the movable frame 26 to extend forward, and the steering gear 311 drives the movable frame 37 to extend forward, and then drives the connecting frame 8 to extend forward, and the connecting frame 8 extends forward to drive the adsorbent 12 to extend forward, so that the suction cup 16 moves forward, and the steering gear 9 drives the robot's legs to drop down, and the suction cup 16 is attached to the smooth surface. The four groups of leg mechanisms work together to move the robot forward. When the suction cup 16 is damaged, the cylinder 23 drives the suction cup 21 to descend and extend, so that the robot can continue to climb the wall through the suction cup 21 after the suction cup 16 is damaged, and the emergency use of the robot can be realized.

[0033] Therefore, the utility model adopts a gecko bionic disaster relief robot with the above structure. The auxiliary suction cup structure drives the suction cup 21 to extend through the cylinder 23, so that the robot can continue to climb the wall through the suction cup 21 after the suction cup 16 is damaged. No immediate maintenance is required, and the robot can be used in emergencies.

[0034] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in this field should understand that they can still modify or replace the technical solution of the utility model with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the utility model.

Claims

1. A gecko bionic disaster relief robot, characterized by: The invention comprises a gecko robot body, which is provided with a leg mechanism for movement, the leg mechanism comprises an adsorption body, the gecko robot body is connected with the adsorption body through a moving structure, a main suction cup structure and an auxiliary suction cup structure are arranged on the adsorption body, the main suction cup structure comprises a suction cup 1, which is connected with the adsorption body, and the auxiliary suction cup structure comprises a suction cup 2, which is connected with the adsorption body.

2. The gecko bionic disaster relief robot according to claim 1, characterized in that: There are four groups of leg mechanisms, which are respectively arranged at the four corners of the gecko robot body.

3. The gecko bionic disaster relief robot according to claim 1, characterized in that: The mobile structure comprises a movable frame 1 which is rotatably arranged on the gecko robot body, a movable frame 2 which is rotatably arranged on the movable frame 1, a movable frame 3 which is rotatably arranged on the movable frame 2, and the movable frame 3 is connected to the top of the adsorbent through a connecting frame.

4. The gecko bionic disaster relief robot according to claim 3, characterized in that: A mounting frame 1 is arranged on the gecko robot body, the mounting frame 1 is connected with the mounting frame 2 through a connecting seat, a steering gear 1 is arranged on the mounting frame 1, the steering gear 1 is connected with one end of the movable frame 1, and the other end of the movable frame 1 is rotatably connected with the mounting frame 2.

5. The gecko bionic disaster relief robot according to claim 3, characterized in that: The movable frame 1 is provided with a steering gear 2, which is connected to one end of the movable frame 2; the other end of the movable frame 2 is provided with a steering gear 3, which is connected to one end of the movable frame 3; and the other end of the movable frame 3 is connected to the connecting frame.

6. The gecko bionic disaster relief robot according to claim 1, characterized in that: A fixing block 1 is arranged in the adsorption body, the fixing block 1 is connected to one end of a linear bearing 1 through a connecting rod 1, the other end of the linear bearing 1 is connected to a suction cup 1, a spring 1 is arranged on the connecting rod 1, and the spring 1 is arranged between the fixing block 1 and the linear bearing 1.

7. The gecko bionic disaster relief robot according to claim 1, characterized in that: A second fixing block is provided in the adsorption body, which is connected to one end of the second linear bearing through a second connecting rod, and the other end of the second linear bearing is connected to the second suction cup. A second spring is provided on the second connecting rod, and the second spring is provided between the second fixing block and the second linear bearing.

8. The gecko bionic disaster relief robot according to claim 7, characterized in that: A cylinder is arranged at the top of the adsorbent, the cylinder is connected to the lifting block through a cylinder rod, and the lifting block is connected to the second fixed block through a connecting piece.

9. The gecko bionic disaster relief robot according to claim 1, characterized in that: A camera mount is provided on the gecko robot body.

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