A bionic gecko robot based on vacuum adsorption and multi-gait control

Abstract

The utility model discloses a kind of bionic gecko robots based on vacuum adsorption and multi-gait control, including front half body rack, the one end of front half body rack is fixedly installed with connecting piece, the bottom end of connecting piece is rotatably connected with rear half body rack, the two sides of front half body rack inner wall and the two sides of rear half body rack inner wall are all installed with installation shell, one end of four installation shells is all installed with mechanical arm assembly, the bottom end of four mechanical arm assemblies is all installed with adsorption fixing assembly, adsorption fixing assembly includes length pole and hole connecting seat, a kind of bionic gecko robots based on vacuum adsorption and multi-gait control of the utility model, by setting adsorption fixing assembly, micro air pump extracts gas by valve airflow pipeline, so that vacuum chuck has vacuum adsorption, to this adsorption is fixed in use, firm degree is high, replace traditional additional device that prevents falling, reduce the use cost of robot.

Description

Technical Field

[0001] This utility model relates to the field of biomimetic robot technology, specifically a biomimetic gecko robot based on vacuum adsorption and multi-gait control. Background Technology

[0002] The research on biomimetic gecko robots mainly focuses on the unique biological characteristics of geckos, such as climbing and jumping, and the potential application value of these characteristics in multiple fields. These biological characteristics make geckos have broad application prospects in fields such as rescue, exploration, and space exploration. Secondly, with the advancement of technology, people have increasingly higher requirements for the functionality and adaptability of robots. Traditional robot designs are often difficult to adapt to complex and ever-changing environments, while biomimetic gecko robots can achieve efficient movement and operation in complex environments by mimicking the climbing and jumping abilities of geckos.

[0003] The biomimetic gecko robot aims to explore the biomechanical principles of geckos and apply them to robot design, enabling robots to climb and jump in complex environments. It studies the biomechanical characteristics of geckos, including foot structure, adhesion mechanism, and motion control, in order to gain a deeper understanding of the principles of their climbing and jumping.

[0004] However, traditional bionic robots have the following drawbacks:

[0005] Traditional robots often require additional devices to prevent them from falling when operating in vertical environments, especially large-diameter environments, which increases the operating cost of the robots. Utility Model Content

[0006] The purpose of this invention is to provide a biomimetic gecko robot based on vacuum adsorption and multi-step control, in order to solve the problem mentioned in the background art that traditional robots often require additional devices to prevent them from falling when operating in vertical environments, especially large-diameter environments, which increases the operating cost of the robot.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a biomimetic gecko robot based on vacuum adsorption and multi-step control, comprising a front half-body frame, a connecting piece fixedly mounted at one end of the front half-body frame, a rear half-body frame rotatably connected to the bottom end of the connecting piece, mounting shells mounted on both sides of the inner wall of the front half-body frame and both sides of the inner wall of the rear half-body frame, a robotic arm assembly mounted at one end of each of the four mounting shells, and an adsorption fixing assembly mounted at the bottom end of each of the four robotic arm assemblies, the adsorption fixing assembly comprising a length rod and a perforated connecting seat, and so on. The bottom end of the perforated connector is fixedly connected to the top end of the length rod. An installation ring is fixedly installed on the surface of the length rod. Five vacuum suction cups arranged in a pentagon are fixedly installed inside the installation ring. Sensing components are fixedly installed on the surfaces of the front and rear halves of the frame. A control module is fixedly installed on the top end of the inner wall of the connector. The sensing components include a sensing platform and an angle seat. One end of the sensing platform is fixedly connected to one end of the angle seat. A steering plate is rotatably connected inside the angle seat. A camera is fixedly installed on the top end of the steering plate.

[0008] Preferably, a first motor is fixedly installed at both ends of the inner wall of the front half of the frame and at both ends of the inner wall of the rear half of the frame. The output ends of the four first motors are fixedly connected to the four sides of the mounting shells facing each other. The first motors are connected to the control module.

[0009] Preferably, each of the four robotic arm components includes a connecting rod, a thigh, and a lower leg. The middle part of the connecting rod is hinged to one end of the thigh, and one end of the connecting rod is hinged to one end of the lower leg. A crank is installed at the other end of the lower leg. A second motor is fixedly installed on one side of the inner wall of the mounting housing, and the output end of the second motor is fixedly connected to the end of the thigh directly opposite it. A third motor is fixedly installed on the other side of the inner wall of the mounting housing, and the output end of the third motor is fixedly connected to the end of the crank directly opposite it. Both the second and third motors are connected to the control module. When the first motor is powered on, it starts and drives the mounting housing to move synchronously, adjusting the direction of the robotic arm components. When the second motor is powered on, it starts and drives the thigh to deflect. When the third motor is powered on, it starts and drives the lower leg to deflect.

[0010] Preferably, the top ends of the four vacuum suction cups are all fixedly connected to valved airflow pipes. A miniature air pump is fixedly installed inside the perforated connector. The ends of the valved airflow pipes away from the vacuum suction cups are all fixedly connected to the air inlets of the miniature air pumps. The air outlet of the miniature air pump is fixedly connected to an exhaust pipe extending to the outside. An ultrasonic sensor is fixedly installed at the top end of the perforated connector. One side of the perforated connector is connected to the surface of the connecting rod. The miniature air pump and the ultrasonic sensor are both connected to the control module. The miniature air pump starts after being powered on. The miniature air pump draws gas through the valved airflow pipes, giving the vacuum suction cups vacuum suction properties. The drawn gas is discharged to the outside through the exhaust pipe. The ultrasonic sensor model is HC-SR04.

[0011] Preferably, a miniature cylinder is fixedly installed at the other end of one side of the sensing platform. The movable end of the miniature cylinder is hinged to a movable block, which is slidably connected to the steering plate. Both the miniature cylinder and the camera are connected to the control module. The miniature cylinder performs telescopic movement, pushing the movable block from one side. The movable block pushes the steering plate from the bottom, causing the steering plate to deflect at an angle along the angle seat, thus adjusting the sensing angle of the steering plate. The camera is connected to the control module and senses the usage environment in real time.

[0012] Preferably, the two sensing platforms are fixedly connected to the front half frame and the rear half frame respectively on the side away from the angle seat, and the sensing components are installed on the front half frame and the rear half frame respectively through the sensing platforms.

[0013] Preferably, a power supply is fixedly installed at the bottom of the inner wall of the connecting piece, and the control module is connected to the power supply. The control module adopts an Arduino Nano, and the power supply uses four sets of 18650 batteries connected in parallel as the power supply for this device.

[0014] Compared with the prior art, the beneficial effects of this utility model are: by setting up an adsorption and fixing component, a micro air pump draws gas through a valved airflow pipeline, so that the vacuum suction cup has vacuum adsorption properties, thereby adsorbing and fixing it at the place of use with a high degree of firmness, replacing the traditional additional devices to prevent it from falling, and reducing the operating cost of the robot. Attached Figure Description

[0015] Figure 1 This is a perspective view of the present utility model;

[0016] Figure 2 This is a top view of the present invention;

[0017] Figure 3 This is a connection diagram of the adsorption and fixation component and the robotic arm component of this utility model;

[0018] Figure 4This is a side view of the sensing component of this utility model;

[0019] Figure 5 This is the circuit diagram of this utility model.

[0020] In the diagram: 1. Front half of the frame; 2. Rear half of the frame; 3. First motor; 4. Second motor; 5. Third motor; 6. Robotic arm assembly; 61. Linkage; 62. Thigh; 63. Lower leg; 7. Adsorption and fixing assembly; 71. Vacuum suction cup; 72. Length rod; 73. Mounting ring; 74. Airflow pipeline with valve; 75. Ultrasonic sensor; 76. Connecting seat with hole; 77. Miniature air pump; 8. Mounting shell; 9. Connecting piece; 10. Control module; 11. Power supply; 12. Sensing assembly; 121. Sensing platform; 122. Angle seat; 123. Direction plate; 124. Camera; 125. Movable block; 126. Miniature cylinder. Detailed Implementation

[0021] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0022] Please see Figure 1-5 This invention provides a biomimetic gecko robot based on vacuum adsorption and multi-gait control, comprising a front half-body frame 1, with a connecting piece 9 fixedly installed at one end of the front half-body frame 1, and a rear half-body frame 2 rotatably connected to the bottom end of the connecting piece 9. Mounting shells 8 are installed on both sides of the inner wall of the front half-body frame 1 and both sides of the inner wall of the rear half-body frame 2. A robotic arm assembly 6 is installed at one end of each of the four mounting shells 8, and an adsorption fixing assembly 7 is installed at the bottom end of each of the four robotic arm assemblies 6. The adsorption fixing assembly 7 includes a length rod 72 and a perforated connecting seat 76, with the bottom end of the perforated connecting seat 76 connected to the top end of the length rod 72. The fixed connection includes a mounting ring 73 fixedly installed on the surface of the length rod 72, and five vacuum suction cups 71 arranged in a pentagon are fixedly installed inside the mounting ring 73. The surface of the front half frame 1 and the surface of the rear half frame 2 are both fixedly installed with sensing components 12. The top of the inner wall of the connecting piece 9 is fixedly installed with a control module 10. The sensing component 12 includes a sensing platform 121 and an angle seat 122. One end of one side of the sensing platform 121 is fixedly connected to one end of the angle seat 122. The inside of the angle seat 122 is rotatably connected with a direction plate 123. The top of the direction plate 123 is fixedly installed with a camera 124.

[0023] First motors 3 are fixedly installed at both ends of the inner wall of the front half frame 1 and both ends of the inner wall of the rear half frame 2. The output ends of the four first motors 3 are fixedly connected to the sides of the four mounting shells 8 respectively. The first motors 3 are connected to the control module 10.

[0024] Each of the four robotic arm components 6 includes a connecting rod 61, a thigh 62, and a lower leg 63. The middle part of the connecting rod 61 is hinged to one end of the thigh 62, and one end of the connecting rod 61 is hinged to one end of the lower leg 63. A crank is installed at the other end of the lower leg 63. A second motor 4 is fixedly installed on one side of the inner wall of the mounting shell 8. The output end of the second motor 4 is fixedly connected to the end of the thigh 62 directly opposite to it. A third motor 5 is fixedly installed on the other side of the inner wall of the mounting shell 8. The output end of the third motor 5 is fixedly connected to the end of the crank directly opposite to it. Both the second motor 4 and the third motor 5 are connected to the control module 10. When the first motor 3 is powered on, it starts and drives the mounting shell 8 to move synchronously, adjusting the direction of the robotic arm component 6. When the second motor 4 is powered on, it starts and drives the thigh 62 to deflect. When the third motor 5 is powered on, it starts and drives the lower leg 63 to deflect.

[0025] Each of the four vacuum suction cups 71 has a valved airflow pipe 74 fixedly connected to its top. A miniature air pump 77 is fixedly installed inside the perforated connector 76. The ends of several valved airflow pipes 74 away from the vacuum suction cups 71 are fixedly connected to the air inlets of the miniature air pump 77. The air outlet of the miniature air pump 77 is fixedly connected to an exhaust pipe extending to the outside. An ultrasonic sensor 75 is fixedly installed on the top of the perforated connector 76. Both the miniature air pump 77 and the ultrasonic sensor 75 are connected to the control module 10. One side of the perforated connector 76 is connected to the surface of the connecting rod 61. The miniature air pump 77... Both the ultrasonic sensor 75 and the micro air pump 77 are connected to the control module 10. After the micro air pump 77 is powered on, it starts and draws gas through the valved airflow pipe 74, so that the vacuum suction cup 71 has vacuum adsorption. The drawn gas is discharged to the outside through the discharge pipe. The ultrasonic sensor 75 is model HC-SR04. The ultrasonic sensor 75 can measure distance in a non-contact manner by means of the reflection of ultrasonic waves. Its main working principle is to emit ultrasonic waves forward. When the sound waves encounter obstacles, they will be reflected back. The sensor detects the reflected wave signal to sense the shape and distance of surrounding objects.

[0026] A miniature cylinder 126 is fixedly installed at the other end of one side of the sensing platform 121. Both the miniature cylinder 126 and the camera 124 are connected to the control module 10. The movable end of the miniature cylinder 126 is hinged to a movable block 125. The movable block 125 is slidably connected to the steering plate 123. The miniature cylinder 126 performs telescopic movement. The miniature cylinder 126 pushes the movable block 125 from one side. The movable block 125 pushes the steering plate 123 from the bottom. The steering plate 123 deflects along the angle seat 122, adjusting the sensing angle of the steering plate 123. The camera 124 is connected to the control module 10 and senses the usage environment in real time.

[0027] The two sensor platforms 121 are fixedly connected to the front half frame 1 and the rear half frame 2 respectively on the side away from the angle seat 122. The sensor components 12 are installed on the front half frame 1 and the rear half frame 2 respectively through the sensor platforms 121.

[0028] A power supply 11 is fixedly installed at the bottom of the inner wall of the connecting piece 9. The control module 10 is connected to the power supply 11. The control module 10 uses an Arduino Nano. The power supply 11 uses four sets of parallel 18650 battery packs as the power supply for this device.

[0029] In this embodiment, during use: the micro cylinder 126 performs telescopic movement, pushing the movable block 125 from one side, which in turn pushes the direction plate 123 from the bottom. The direction plate 123 deflects along the angle seat 122, adjusting the sensing angle of the direction plate 123. The camera 124 is connected to the control module 10, and it senses the environment in real time. The first motor 3 is started after being powered on, driving the mounting shell 8 to move synchronously and adjusting the direction of the robotic arm assembly 6. The second motor 4 is started after being powered on, driving the thigh 62 to deflect. The third motor 5 is started after being powered on, driving the lower leg 63 to deflect. The micro air pump 77 is started after being powered on, drawing gas through the valved airflow pipe 74, giving the vacuum suction cup 71 vacuum adsorption properties. The drawn gas is discharged to the outside through the exhaust pipe.

[0030] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A bionic gecko robot based on vacuum adsorption and multi-gait control, comprising a front half body frame (1), characterized in that: A connecting piece (9) is fixedly installed at one end of the front half frame (1), and the bottom end of the connecting piece (9) is rotatably connected to the rear half frame (2). Mounting shells (8) are installed on both sides of the inner wall of the front half frame (1) and both sides of the inner wall of the rear half frame (2). A robotic arm assembly (6) is installed at one end of each of the four mounting shells (8), and an adsorption fixing assembly (7) is installed at the bottom end of each of the four robotic arm assemblies (6). The adsorption fixing assembly (7) includes a length rod (72) and a perforated connecting seat (76). The bottom end of the perforated connecting seat (76) is fixedly connected to the top end of the length rod (72), and a mounting bracket is fixedly installed on the surface of the length rod (72). The mounting ring (73) has five vacuum suction cups (71) arranged in a pentagonal pattern fixedly installed inside. The front half frame (1) and the rear half frame (2) are both fixedly installed with sensing components (12). The top of the inner wall of the connecting piece (9) is fixedly installed with a control module (10). The sensing component (12) includes a sensing platform (121) and an angle seat (122). One end of the sensing platform (121) is fixedly connected to one end of the angle seat (122). The inside of the angle seat (122) is rotatably connected with a direction plate (123). The top of the direction plate (123) is fixedly installed with a camera (124).

2. The vacuum-suction and multi-gait control based bio-inspired gecko robot according to claim 1, characterized in that: First motors (3) are fixedly installed at both ends of the inner wall of the front half frame (1) and both ends of the inner wall of the rear half frame (2). The output ends of the four first motors (3) are fixedly connected to the side of the four mounting shells (8) respectively. The first motors (3) are connected to the control module (10).

3. The vacuum-suction and multi-gait control based bio-inspired gecko robot according to claim 1, wherein: Each of the four robotic arm components (6) includes a link (61), a thigh (62), and a lower leg (63). The middle part of the link (61) is hinged to one end of the thigh (62), and one end of the link (61) is hinged to one end of the lower leg (63). A crank is installed at the other end of the lower leg (63). A second motor (4) is fixedly installed on one side of the inner wall of the mounting housing (8). The output end of the second motor (4) is fixedly connected to the end of the thigh (62) directly opposite to it. A third motor (5) is fixedly installed on the other side of the inner wall of the mounting housing (8). The output end of the third motor (5) is fixedly connected to the end of the crank directly opposite to it. Both the second motor (4) and the third motor (5) are connected to the control module (10).

4. The biomimetic gecko robot based on vacuum adsorption and multi-step control according to claim 1, characterized in that: The top of each of the four vacuum suction cups (71) is fixedly connected to a valved airflow pipe (74). A miniature air pump (77) is fixedly installed inside the perforated connector (76). The ends of several valved airflow pipes (74) away from the vacuum suction cups (71) are fixedly connected to the air inlet of the miniature air pump (77). The air outlet of the miniature air pump (77) is fixedly connected to an exhaust pipe extending to the outside. An ultrasonic sensor (75) is fixedly installed at the top of the perforated connector (76). One side of the perforated connector (76) is connected to the surface of the connecting rod (61). The miniature air pump (77) and the ultrasonic sensor (75) are both connected to the control module (10).

5. A biomimetic gecko robot based on vacuum adsorption and multi-step control according to claim 1, characterized in that: A miniature cylinder (126) is fixedly installed at one end of the sensing platform (121). A movable block (125) is hinged to the movable end of the miniature cylinder (126). The movable block (125) is slidably connected to the steering plate (123). The miniature cylinder (126) and the camera (124) are both connected to the control module (10).

6. A biomimetic gecko robot based on vacuum adsorption and multi-step control according to claim 5, characterized in that: The two sensor platforms (121) are fixedly connected to the front half frame (1) and the rear half frame (2) respectively on the side away from the angle seat (122).

7. A biomimetic gecko robot based on vacuum adsorption and multi-step control according to claim 1, characterized in that: A power supply (11) is fixedly installed at the bottom of the inner wall of the connecting piece (9), and the control module (10) is connected to the power supply (11).

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