Reconnaissance robot of bionic gecko tail-breaking structure
By designing a reconnaissance robot with a bionic gecko tail-breaking structure, the power device drives the disconnection and reconnection of the wall tail, the problem that the existing bionic gecko robot cannot reconnaissance normally under unexpected circumstances is solved, and the task continuity and safety are achieved.
Patent Information
- Application Number
- CN202422586814.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-25
- Publication Date
- 2025-08-15
- Estimated Expiration
- 2034-10-25
AI Technical Summary
The existing bionic gecko robots lack backup solutions during reconnaissance, resulting in the inability to conduct reconnaissance in normal and timely under unexpected circumstances.
A reconnaissance robot with a bionic gecko tail-breaking structure was designed. Through the insertion structure of the bionic large gecko wall body and the bionic large gecko wall tail, the power device is used to drive the bionic large gecko wall tail to switch between the first working state and the second working state to realize the disconnection and reconnection of the wall tail, and the wireless communication module is used to remotely control the small gecko for reconnaissance tasks.
It ensures that when the Bionic Big Gecko wall body encounters danger or cannot work normally, the Bionic Big Gecko wall tail can independently perform reconnaissance tasks, ensuring the continuity and safety of the tasks, and improving reconnaissance efficiency and flexibility.
Smart Images
Figure CN223223407U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a reconnaissance robot with a bionic gecko's broken tail structure, belonging to the field of bionic machinery. Background Art
[0002] With the rapid development of science and technology, bionics, a discipline that mimics the structures, functions, and principles of natural organisms, has shown tremendous potential for application in detection technology. The bionic gecko, a key research subject in bionics, offers valuable inspiration for innovations in detection technology due to its unique adhesion mechanism, flexible locomotion, and exceptional tail-breaking ability.
[0003] Currently, most developed countries have achieved significant success in research on bionic gecko-like robots. For example, the marine welding robot designed by the Ecole Centrale de Nantes in France boasts a powerful suction force, reaching 100 kilograms. It uses a laser sensor to identify road conditions and is directly controlled by a PC, replacing manual welding tasks. Japanese researcher Inoue developed the hexapod wall-climbing robot AsteriskRobot by simulating rock climbing techniques. By independently controlling the motion trajectories of its front and rear arms, the robot achieves free climbing motion in multiple coordinate systems. Researchers at Ben-Gurion University of Israel have designed the quadruped robot CLIBO. The robot has four legs, each composed of two rods, providing four degrees of freedom. Fishhook-like barbs on the robot's feet prevent interference between the rods, enabling it to crawl over uneven and rough surfaces. In 2006, a team led by Dr. Mark Cutkosky of Stanford University in the United States developed a bionic gecko-like robot called the Stanford Stickybot. The research team used micromolds to create a rubber-like polymer microfilament and coated the robot's four sticky feet. Each toe is equipped with a tendon that allows for both valgus and flattening. The robot's legs utilize a four-bar structure, with three motors driving the legs and the toes' flattening and eversion. This allows for the robot to attach and detach objects, creating the illusion of climbing walls and scrambling.
[0004] In summary, current research on bionic geckos focuses on: developing different gecko foot structures based on the gecko's foot adhesion mechanism; designing bionic functional surfaces based on the gecko's foot adhesion mechanism to create super tape; and developing different wall-climbing robots based on the gecko's body structure, including mechanical design and the development of intelligent drive materials. This suggests that research on bionic geckos primarily focuses on foot adhesion and locomotion mechanisms, while research on the gecko's tail-breaking ability has received less attention. Consequently, few bionic gecko robots with broken tails have been developed, and there is currently no mature bionic gecko robot with a broken tail.
[0005] At present, there are many bionic reconnaissance robots, such as: bionic bird reconnaissance robots in the air, bionic fish reconnaissance robots underwater, bionic dog reconnaissance robots on the ground, and even gecko reconnaissance robots. However, due to environmental uncertainties, these bionic machines are bound to encounter accidents during the reconnaissance process. When the above-mentioned bionic reconnaissance robots encounter accidents, there is no backup solution, which results in the reconnaissance not being carried out normally and in a timely manner. This requires a solution to this problem. Summary of the Invention
[0006] The utility model provides a reconnaissance robot with a bionic gecko tail-breaking structure. Through the ingenious cooperation of a bionic gecko body and a bionic gecko tail, the bionic gecko tail can be in a first working state connected to the bionic gecko body and a second working state separated from the bionic gecko body. Based on the design, when the bionic gecko body fails to work normally due to an accident during the reconnaissance process, the bionic gecko tail can be driven to disconnect and enter the second working state by a power device. The bionic gecko tail falls off like a gecko tail, and the fallen bionic gecko tail will take over the reconnaissance work of the bionic gecko body. The tail can also be disconnected when there is a small probability that the bionic gecko tail is pressed, so that the gecko body can be out of danger in time and continue to perform reconnaissance.
[0007] The technical solution of the utility model is:
[0008] A reconnaissance robot with a bionic gecko tail-broken structure comprises a bionic gecko body, a bionic gecko tail 17, and a power device 110; the bionic gecko tail 17 has a first working state connected to the bionic gecko body and a second working state separated from the bionic gecko body; the power device 110 is mounted on the bionic gecko body, and the power device 110 provides power to drive the bionic gecko tail 17 connected to the output end of the power device 110 to be movably arranged relative to the bionic gecko body along a first preset direction, thereby enabling the bionic gecko tail 17 to switch from the first working state to the second working state.
[0009] Furthermore, the robot also includes a long straight rod with a threaded hole 14 and a long straight rod with a threaded hole 16 for the tail of a small gecko. The output shaft of the power device I10 is fixedly connected to one end of the long straight rod with a threaded hole 14, and the other end of the long straight rod with a threaded hole 14 is threadedly connected to the long straight rod with a threaded hole 16 for the tail of a small gecko fixed on the tail of a bionic big gecko 17, so as to be movably arranged along the axial direction of the output shaft of the power device I10 by driving the long straight rod with a threaded hole 14 to follow the long straight rod with a threaded hole 16 for the tail of a small gecko.
[0010] Furthermore, the bionic gecko body includes a main body-front half body structure 6, a main body-back half body structure 13, and a first leg part, wherein the first leg part is a first front leg and a first back leg, the main body-front half body structure 6 and the main body-back half body structure 13 are connected, the first front leg is installed on the side of the main body-front half body structure 6 away from the main body-back half body structure 13, and the first back leg is installed on the side of the main body-back half body structure 13 away from the main body-front half body structure 6.
[0011] Furthermore, the first front leg and the first rear leg have the same structure. The first front leg includes a suction cup 1, a straight-line bracket 2, two short U-shaped brackets 3, a long U-shaped bracket 4, and three power devices II5. The first output end of the first power device II5 is fixedly connected to one side of one end of the main body-front half body structure 6, and the second output end of the first power device II5 is rotatably matched with the first short U-shaped bracket 3 with an opening facing the second power device II5; the first short U-shaped bracket 3 is fixed to the second power device II5; the two output ends of the second power device II5 are rotatably matched with the two end portions of the open end of the long U-shaped bracket 4; the long U-shaped bracket 4 and the second short U-shaped bracket 3 are fixedly connected and the two openings are set in a divergent manner. The opening of the second short U-shaped bracket 3 faces the third power device II5 and the two are fixedly connected. An output end of the third power device II5 is rotatably matched with one end of the straight-line bracket 2, and the other end of the straight-line bracket 2 is fixedly installed with a suction cup 1.
[0012] Furthermore, the bionic gecko tail 17 has a substantially identical structure to the bionic gecko body, with the difference being that the bionic gecko tail 17 is smaller than the bionic gecko body.
[0013] The beneficial effects of the utility model are as follows: the bionic gecko body and the bionic gecko tail are designed with an "insert structure" so that the bionic gecko tail and the bionic gecko body are embedded and matched, and the bionic gecko tail is remotely controlled by a control panel to disconnect. Such a disconnection design allows the robot to remotely transmit information to the control panel of the gecko body through a wireless communication module integrated in a single-chip microcomputer during the execution of a task, so that even if the gecko body loses some functions, the bionic gecko tail, which serves as the small gecko, can still continue to perform the reconnaissance mission, thereby ensuring the continuity of the mission. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 This is a schematic diagram of the entire structure of the robot of the present invention (the support platform is hidden under one side panel to show the effect);
[0015] Figure 2 This is a schematic diagram of the left side structure of the entire robot of the utility model;
[0016] Figure 3 This is a schematic diagram of the overall structure of the robot from above;
[0017] Figure 4 This is a schematic diagram of the main structure of the bionic gecko body of the robot of the utility model;
[0018] Figure 5 This is a schematic diagram of the bionic gecko tail structure of the robot of the utility model;
[0019] Figure 6 Schematic diagram of the power unit I assembled with the main body and rear body structure of the robot of the present invention;
[0020] Figure 7 This is a schematic diagram of the structure of the main body of the robot of the utility model - the back half and the bionic gecko tail;
[0021] Figure 8 A schematic diagram of the battery pack assembled on the main body and front half of the robot of the present invention;
[0022] Figure 9 This is a schematic diagram of the leg structure of the robot of the present utility model;
[0023] Figure 10 This is a schematic diagram of the main body and front half of the robot of the present utility model;
[0024] Figure 11 This is a schematic diagram of the main body and rear body structure of the robot of the present invention;
[0025] Figure 12This is a schematic diagram of the support platform structure of the robot of the utility model;
[0026] The numbers in the figure are: 1-suction cup, 2-I-shaped bracket, 3-short U-shaped bracket, 4-long U-shaped bracket, 5-power device II, 6-main body-front half body structure, 7-battery pack, 8-U-shaped fixing frame, 9-long aluminum alloy rod, 10-power device I, 11-first PWM control board, 12-support platform, 13-main body-back half body structure, 14-threaded hole long straight rod, 15-leg support part, 16-small gecko tail threaded long straight rod, 17-bionic large gecko wall tail, 18-control board support platform, 19-second PWM control board, 20-cross slot head screw M2*10, 21-hexagonal nut M2, 22-servo lower plate, 23-servo upper plate. DETAILED DESCRIPTION
[0027] The utility model will be further described below in conjunction with the accompanying drawings and embodiments, but the content of the utility model is not limited to the scope of the drawings.
[0028] Example 1: Figure 1-12 As shown, a reconnaissance robot with a bionic gecko broken-tail structure includes a bionic gecko body, a bionic gecko tail 17, and a power device 110; the bionic gecko tail 17 has a first working state connected to the bionic gecko body and a second working state separated from the bionic gecko body; the power device 110 is installed on the bionic gecko body, and the power device 110 provides power to drive the bionic gecko tail 17 connected to the output end of the power device 110 to be movably arranged along a first preset direction relative to the bionic gecko body, thereby realizing the switching of the bionic gecko tail 17 from the first working state to the second working state.
[0029] like Figure 1 、 Figure 2 and Figure 3 As shown, the bionic gecko tail 17 has the same structure as the bionic gecko body, except that the bionic gecko tail 17 is smaller than the bionic gecko body. Figure 6 、 Figure 7 As shown, the output shaft of the power device I10 is fixedly connected to one end of the threaded hole long straight rod 14, and the other end of the threaded hole long straight rod 14 is threadedly connected to the threaded long straight rod 16 of the small gecko tail fixed on the bionic gecko tail 17, so as to drive the bionic gecko tail 17 to move along the axial direction of the output shaft of the power device I10 through the rotation of the threaded hole long straight rod 14.
[0030] like Figure 1 、 Figure 2 and Figure 3As shown, the bionic gecko body includes a main body-front half body structure 6, a main body-back half body structure 13, and four first legs. The four first leg parts are two first front legs and two first hind legs. The main body-front half body structure 6 and the main body-back half body structure 13 are connected. The two first front legs are installed on the side of the main body-front half body structure 6 away from the main body-back half body structure 13, and the two first hind legs are installed on the side of the main body-back half body structure 13 away from the main body-front half body structure 6.
[0031] like Figure 1 、 Figure 2 、 Figure 3 and Figure 5 As shown, the bionic gecko tail 17 includes a front half-body structure, a rear half-body structure 18, and four second legs. The four second legs are two small gecko front legs and two small gecko hind legs. The structures of the small gecko front legs and the small gecko hind legs are the same as the first leg structure of the bionic gecko body (in specific application, the size of the small gecko front legs and the small gecko hind legs is 1 / 3 of the leg structure of the large gecko body). The small gecko hind legs are supported by the leg support part 15 arranged on the side of the main body-rear half-body structure 13 away from the main body-front half-body structure 6.
[0032] Furthermore, if Figure 1 、 Figure 8 、 Figure 10-12 As shown, in this example, the main body-front half body structure 6 and the main body-rear half body structure 13 are connected by a long aluminum alloy rod 9 made of 5052 (the wall tail front half body structure and the wall tail rear half body structure 18 can also be connected by a long aluminum alloy rod 9 made of 5052), which ensures the strength of the fuselage while reducing the weight; the main body-rear half body structure 13 is installed with a support platform 12 on the support plate on the side close to the main body-front half body structure 6, and the square support platform 12 is provided with a cavity for installing the power device 110, and the support platform 12 is provided with a support plate for fixing the first PWM control board 11; as shown Figure 5 As shown, the rear half structure 18 of the wall tail is used to fix the second PWM control board 19.
[0033] Furthermore, the bionic gecko tail 17 and the bionic gecko body are independently controlled. The first and second PWM control boards both use a single-chip microcomputer with a wireless communication module. Specifically, an STM32 series single-chip microcomputer is selected, and the core is ARMCortex-M3. The speed of the LDX-218 digital servo can be freely adjusted, and the stability and accuracy of the control board's control of the servo are greatly improved. The PS2 handle that cooperates with each control board realizes wireless control, which can accurately control the movement of the gecko. Figure 5 、 8As shown, a 2200mAh lithium battery pack 7 with an operating voltage of 7.4V is fixed by two small U-shaped fixing frames 8 and the main body-front half body structure 6, thereby ensuring the stability of the battery pack; similarly, the bionic gecko wall tail 17 can also adopt the same installation method as the battery pack on the bionic gecko wall body, and the battery pack is configured in the front half body structure of the wall tail.
[0034] like Figure 3-Figure 5 and Figure 9 As shown, the structures of the four legs of the bionic gecko wall body and the bionic gecko wall tail 17 in the robot are basically the same, and each leg has three power devices II. Taking one of the legs as an example: the single leg includes a suction cup 1, a straight bracket 2, two short U-shaped brackets 3, a long U-shaped bracket 4 and three control joints. Each leg structure of the robot is connected to three motors, forming three power devices II5 for rotating pairs. The first output end of the first power device II5 is fixedly connected to one side of one end of the main body-front half body structure 6 / main body-back half body structure 13, and the second output end of the first power device II5 is rotationally matched with the first short U-shaped bracket 3 opening toward the second power device II5 via a steering gear disc; the first short U-shaped bracket 3 is fixed to the second power device II5; the two output ends of the second power device II5 are rotationally matched with the two end portions of the open end of the long U-shaped bracket 4 via a steering gear disc (with Figure 4 、 9 From the perspective of explanation, the upper output end of the second power unit II5 is rotationally matched with the servo upper plate 23 fixed at the upper end of the opening of the long U-shaped bracket 4 through a spline connection, and the lower output end of the second power unit II5 is rotationally matched with the servo lower plate 22 fixed at the lower end of the opening of the long U-shaped bracket 4 through a spline connection); the long U-shaped bracket 4 and the second short U-shaped bracket 3 are fixedly connected by a hexagonal nut M221 and the two openings are set apart from each other, the opening of the second short U-shaped bracket 3 faces the third power unit II5 and the two are fixedly connected by a cross slot screw M2*1020, an output end of the third power unit II5 is rotationally matched with one end of the I-shaped bracket 2, and the other end of the I-shaped bracket 2 is fixedly installed with a suction cup 1. The 12 digital servos in the four legs of the bionic gecko's body are connected to the first PWM control board 11 via wires. The first PWM control board 11 controls the first power units II5 installed at the corresponding joints, responsible for raising and lowering the robot's legs. The first PWM control board 11 also controls the second and third power units II5 installed at the corresponding joints, which work together to contract and extend the robot's legs. The same principle applies to the bionic gecko's tail 17.
[0035] For example, the power unit I adopts a 130 DC small motor, and the power unit II adopts an LDX-218 digital servo.
[0036] In specific application, the long straight rod 14 with threaded hole at the tail cooperates with the long straight rod 16 with threaded hole at the tail of the small gecko, and the long straight rod 14 with threaded hole is connected to the power device I10, and the power device I10 is connected to the PWM control board through a wire. Use PS2 handle to control the control panel. When the robot is conducting reconnaissance, if it finds that the bionic gecko's wall body cannot work normally, or multiple reconnaissances are required, or the bionic gecko's wall tail as the small gecko is pressed, the command is transmitted to the control panel integrated with the single-chip microcomputer through wireless communication, and the control panel controls the power device I10 to start working. Since the threaded hole long straight rod 14 and the threaded long straight rod 16 on the small gecko's tail are threadedly matched, when the threaded hole long straight rod 14 fixed to the rotating metal rod of the power device I10 spins, the small gecko's hind legs are supported by the leg support part 15, and the force generated by the threaded hole long straight rod 14 in the rotation direction of the small gecko during the spin is balanced, so that the small gecko will not spin, but will move horizontally, so that the bionic gecko's wall tail 17 will fall off the bionic gecko's wall body. The bionic gecko's wall tail 17 has a separate control panel, which can be used to separately control the bionic gecko's wall tail for reconnaissance.
[0037] Furthermore, the detachable design of the small geckos and large gecko bodies allows them to be deployed separately. For example, when simultaneously reconnaissance is needed for multiple locations, multiple small geckos can be dispatched to different areas, while the large gecko body performs the primary reconnaissance mission. This flexible deployment significantly improves reconnaissance efficiency. Furthermore, due to their independent control system, the small geckos can be used as independent reconnaissance equipment, independent of the large gecko body, further enhancing efficiency in some reconnaissance missions. Furthermore, because the reconnaissance robot's mechanical structure is modeled after a gecko, and the bionic large gecko tail is only one-third the size of the large gecko body, when the robot encounters complex or difficult-to-navigate environments, the small geckos can be deployed for more detailed and flexible reconnaissance. The small geckos can enter narrow spaces that the large gecko body cannot reach, thereby obtaining more comprehensive and accurate reconnaissance information. In the unlikely event that the bionic large gecko tail becomes trapped during reconnaissance, the tail can be promptly disconnected, allowing the large gecko body to escape, minimizing losses and protecting the robot's machinery to a greater extent.
[0038] The specific embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in this field without departing from the purpose of the present invention.
Claims
1. A reconnaissance robot with a bionic gecko tail-breaking structure, characterized in that: The invention comprises a bionic gecko body, a bionic gecko tail (17), and a power device I (10); the bionic gecko tail (17) has a first working state connected to the bionic gecko body and a second working state separated from the bionic gecko body; the power device I (10) is installed on the bionic gecko body, and the power device I (10) provides power to drive the bionic gecko tail (17) connected to the output end of the power device I (10) to be movably arranged relative to the bionic gecko body along a first preset direction, thereby realizing the switching of the bionic gecko tail (17) from the first working state to the second working state.
2. The reconnaissance robot with a bionic gecko tail-breaking structure according to claim 1, characterized in that: The robot further comprises a threaded hole long straight rod (14) and a small gecko tail threaded long straight rod (16); the output shaft of the power device I (10) is fixedly connected to one end of the threaded hole long straight rod (14); the other end of the threaded hole long straight rod (14) is threadedly connected to the small gecko tail threaded long straight rod (16) fixed on the bionic large gecko wall tail (17), so as to be used for driving the bionic large gecko wall tail (17) to follow the small gecko tail threaded long straight rod (16) along the axial direction of the output shaft of the power device I (10) through the rotational movement of the threaded hole long straight rod (14).
3. The reconnaissance robot with a bionic gecko tail-breaking structure according to claim 1, characterized in that: The bionic gecko body comprises a main body-front half body structure (6), a main body-back half body structure (13), and a first leg portion, wherein the first leg portion is a first front leg and a first back leg, the main body-front half body structure (6) and the main body-back half body structure (13) are connected, the first front leg is installed on a side of the main body-front half body structure (6) away from the main body-back half body structure (13), and the first back leg is installed on a side of the main body-back half body structure (13) away from the main body-front half body structure (6).
4. The reconnaissance robot with a bionic gecko tail-breaking structure according to claim 3, characterized in that: The first front leg and the first rear leg have the same structure. The first front leg comprises a suction cup (1), a straight-line bracket (2), two short U-shaped brackets (3), a long U-shaped bracket (4), and three power devices II (5). The first output end of the first power device II (5) is fixedly connected to one side of one end of the main body-front half body structure (6), and the second output end of the first power device II (5) is rotationally matched with the first short U-shaped bracket (3) whose opening faces the second power device II (5); the first short U-shaped bracket (3) is fixed to the second power device II (5); the two output ends of the second power device II (5) are rotationally matched with the two end portions of the opening of the long U-shaped bracket (4); the long U-shaped bracket (4) and the second short U-shaped bracket (3) are fixedly connected, and the two openings are arranged in a diverging manner. The opening of the second short U-shaped bracket (3) faces the third power device II (5), and the two are fixedly connected. One output end of the third power device II (5) is rotationally matched with one end of the straight-line bracket (2), and the other end of the straight-line bracket (2) is fixedly mounted with the suction cup (1).
5. The reconnaissance robot with a bionic gecko tail-breaking structure according to claim 1, characterized in that: The bionic gecko tail (17) and the bionic gecko body have substantially the same structure, except that the bionic gecko tail (17) is smaller in size than the bionic gecko body.