CN1947959A - Wall gecko imitation mini-robot - Google Patents
Wall gecko imitation mini-robot Download PDFInfo
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- CN1947959A CN1947959A CN 200610150939 CN200610150939A CN1947959A CN 1947959 A CN1947959 A CN 1947959A CN 200610150939 CN200610150939 CN 200610150939 CN 200610150939 A CN200610150939 A CN 200610150939A CN 1947959 A CN1947959 A CN 1947959A
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Abstract
A miniature robot simulating gecko is composed of a circuit control unit and a mechanical structure unit which consists of 4 single leg structures comprising thigh, shank and suction cup, a body module comprising two waist-driving steering gears, two air pumps, two air releasing unit, two four-way jointers and 6 plastic guide tubes, and a negative-pressure sucking and releasing unit comprising steering gear, spring, steel cable, winder and fixed spring.
Description
(1) technical field
The present invention relates to the robot design field, a kind of specifically have a bionical gecko robot of the microminiature of climbing wall energy power.
(2) background technology
From twentieth century six the seventies, various countries have all dropped into a large amount of funds in the development of military robot and exploitation.Micro robot becomes military robot research focus just day by day so that it is disguised by force, power consumption is little, with low cost, be convenient to a large amount of advantages of disposing.The microminiature climbing robot is a branch of micro robot, mainly carries out mobile operating at walls such as building, pipeline or top.Aspect civilian, there are many occasions must take good safety prevention measure could implement operation, as: the operation in the atomic power station under the strong radioactive ray, deepwater works such as submarine oil exploration, fire-fighting and rescue operation during disaster, the flaw detection of various pipes, repair etc., and the microminiature climbing robot can be applied in the middle of these work widely.At military aspect, it can be engaged in scouting, collect intelligence work, is engaged in work such as the removal of mines, explosive, carrying arms attack, the rescue wounded during military operation.Thereby the microminiature climbing robot all holds out broad prospects in the many-side in future is used.At present, there have been a considerable amount of climbing robots to drop into field operations both at home and abroad, but also have not been a lot, now just done following introduction with this technology association area present Research and applicable cases to the research of microminiature climbing robot:
(1) German FZI (Forchungszentrum Informatik) has developed Lauron series bionic 6-leg robot.The heavy 18kg of third generation Lauron bionic 6-leg robot, the load that can bear 10kg.Size 0.5m * 0.8m * 0.3m (length * wide * height), by 24 volts of DC servo motors through each joint of belt wheel deceleration rear drive.
(2) right figure is the imitative cockroach six-legged walking machine device people of similar item high maneuverability that DARPA subsidized.The ability that 24 joints that this robot is driven by minitype cylinder make the entire machine people have walking and jump over, entire machine people can be carried 30 pounds.
(3) the USN machine lobster (right figure) of developing.It is a kind of eight foots walking robots under water.It comprises 4 * 8 inches housing, and housing is driven by 8 3DOF legs, and every leg is that basic action is carried out on the basis with 3 joints, and muscularity driver (power made from the marmem Nitinol can recovery type artificial muscle) is adopted in the action in joint
(4) people such as the luxuriant man of wide otter of Tokyo University have developed " NINJA " type four-footed wall walking robot.Four suckers of " NINJA " type four-footed wall walking robot are installed in four respectively independently on the leg, by the various combination of four legs, realize robot from ground to the wall again to the moving of husband's card, have stronger obstacle climbing ability and wall adaptive capacity.Its action is of a size of 110cm * 70cm * 50cm.
(5) 1993 years, the seemingly clear wall walking robot of having developed another kind of form of wild intelligence of Japanese industry technology institute, as shown at right, this robot is made up of the leg foot mechanism that two foot ends are equipped with five suckers, every leg can be around other one leg rotation, and the different anglecs of rotation has just formed the straight line and the divertical motion of robot.Robot basic size is 120cm * 60cm * 80cm.
(6) 1998 years, the success of the industrial automation Research Institute of Spain CSIC university a kind of six sufficient climbing robots (shown in the right figure) that are called REST.Robot adopts the animal-type leg, has two semi-freedoms on every leg, i.e. two rotary freedoms and half prismatic passive flexible free degree perpendicular to plane of motion.
(7) 2002 years, the western bright professor of Japanese Miyazaki University has developed the biped climbing robot, and was as shown below.This robot architecture is simple, and complicated wall environment is had good adaptability, and it is to be attached on the wall by the absorption affinity that the sucker that is installed in the leg end produces, and the negative pressure in the sucker is produced by air exhauster; Alternately absorption by two legs realizes robot moving on wall, pass through the appropriate combination of the oblique just and compass foot switching of ankle when mobile, just can cross the step of certain altitude, so combined with the revolution of ankle again, just can realize moving under the multiple wall environment.But, when vertical walls or ceiling move, certain danger is arranged because leg is long, center of gravity is high.This robot parameter is as follows: gross weight: 120N, and sucker radius 165mm, angle of revolution-180 °-180 °, incline 5 °-250 ° of complementary angles of the long 700mm of leg, ankle, leg opens and closes 15 °-105 ° at angle.
By relatively discovery to domestic and international climbing robot, shortcomings such as existing climbing robot has that volume is big, Heavy Weight, very flexible, part are many, processing difficulties, control complexity, these climbing robots present stages all is difficult to be applied in the environment that volume is little, disguised by force, power consumption is little, flexibility is strong, with low cost.
(3) summary of the invention
The object of the present invention is to provide a kind of simple in structure, volume is little, disguise is strong, power consumption is little, flexibility is strong, with low cost, reliability is high, the imitative gecko climbing robot of the microminiature that is easy to use.
The object of the present invention is achieved like this: it comprises health package assembly and single leg structure, and quadruplet list leg structure is installed on the health package assembly, and two single bottom bands of trouser legs on every group of diagonal have a cover negative-pressure adsorption and put pressure device; The health package assembly comprises that two waists drive steering wheel, two air pumps and two gases and put pressure device, and each air pump is put pressure device with a gas respectively by pipeline and linked to each other with the sucker that two covers are single leg structure of diagonal distribution; Described single leg structure is made up of thigh, shank and sucker, shank comprises the knee joint steering wheel, sucker is installed in the below of knee joint steering wheel, thigh comprises hip joint elevating movement steering wheel, hip joint horizontal hunting steering wheel, link to each other by revolute pair between hip joint elevating movement steering wheel and the hip joint horizontal hunting steering wheel, between hip joint elevating movement steering wheel and knee joint steering wheel, be provided with the connecting rod that is connected by revolute pair.
The present invention also has some architectural features like this:
1, the described pressure device of putting is made of steering wheel, spring, steel wire rope, reel and fixing spring device, the main shaft of reel and steering wheel is connected, steel wire rope one end is fixed on the reel, and the other end is fixed on the front end of spring, and spring is fixed on the steering wheel by the fixing spring device;
2, sucker links to each other with the knee joint steering wheel by bearing;
3, connecting rod and hip joint horizontal hunting steering wheel are provided with sensor.
Designer of the present invention has designed the wall gecko imitation mini climbing robot on the basis of having studied polypody ground microminiature climbing robot correlation technique and wall adsorption technology.Now relevant actuation techniques, the joint kind of drive and the wall suction type of robot therewith introduced:
Bio-robot actuation techniques present situation:
Being widely used in the actuation techniques that robot designs and develops at present has:
(1) motor (servo, stepping, moment, linear electric motors) drives
(2) marmem (SMA-Shape Memory Alloy)
(3) air pressure drives
(4) hydraulic-driven
(5) Piezoelectric Ceramic
(6) superconductor drives
(7) scalability polymer-driven
It is many that polypody bio-robot walking leg has the joint of driving quantity, housing construction requires compact characteristics, take all factors into consideration the factors such as dynamic property, power/quality ratio, controllability, the ratio of performance to price of driving element, adopting micro servo motor or marmem is a kind of more feasible method as micro robot leg joint driver.
Because the technical difficulty of SMA material manufacturing own is just very big, and needs special training preparation means at different purposes, so also there is the difficulty of practicability as the functional material of joint of robot driver.
The engineering application technology of microminiature motor is ripe, and the standardization of products, stable performance, type of drive and correlation technique are all very perfect, and itself is less as the technical risk of joint driver.
Bionic machine person joint kind of drive present situation:
How to copy the biological prototype that creeps, the reasonable Arrangement servomotor to reduce the physical dimension of walking leg, is one of type motor-driven key issue to be solved to meet the elongated construction profile of walking leg.The kind of drive that is widely used in walking robot has: gear (comprising tooth bar) transmission, rope sheave transmission, chain gear transmission, worm and gear and direct driving etc. are several.
Generally have gear, rope sheave transmission and the DC servo motor that are suitable for microminiature bionic machine person joint driving directly drive three kinds of modes.In the gear drive, mainly contain harmonic gear and planetary gear transmission again.
In three kinds of transmissions, the mechanism of rope sheave transmission is not high than complexity and reliability, is difficult to use in the short distance small space.In the gear drive, be subjected to the restriction of harmonic gear size, it is difficult to be applied to the micro robot joint.
Adopt the direct drive mode of DC servo motor to have more superiority by relatively seeing under the more succinct situation in little space, drive line.
Present stage, the climbing robot suction type had: vacuum suction, magnetic echo thrust absorption.
The vacuum suction method is by vacuum generating device, makes the sucker inner chamber produce negative pressure, and robot utilizes the inside and outside pressure differential of sucker to be attached on the wall.The vacuum suction method is not owing to be subjected to the restriction of wall material, wide accommodation, but sucker leaks gas easily when wall is uneven, thus absorption affinity descends, the bearing capacity reduction.Vacuum suction has single suction disc type and multi-sucker formula again.
It must be permeability magnetic material that the magnetic absorption method requires wall, but it is simple in structure, absorption affinity is big, and is strong to the concavo-convex adaptability of wall, does not have the gas leakage problem of vacuum suction method, thereby when the wall surface material magnetic conduction, use magnetically adsorbed wall-climbing robot that its outstanding advantage is arranged.
Aeronautical technology has been used for reference in thrust absorption, uses propeller or ducted fan to produce suitable thrust, make robot stabilized, be attached on the wall reliably, and on wall, move.Advantages such as it is good that this suction type has wall adaptability, and obstacle detouring is easy, but control system complexity.Three kinds of suction types specifically relatively see Table 1-1.
The comparison of three kinds of suction types of table 1-1 climbing robot
| Suction type | Advantage | Shortcoming | |
| Vacuum cup | The single sucking disc | Simple in structure, allow leakage to a certain degree | The sucker nonredundancy will be in case the outage body will be lost adsorption capacity |
| Multi-sucker | The sucker size is little, and good airproof performance has certain redundancy during outage | Wall will have vacuum leak if any convex-concave or crack | |
| Magnetic force absorption | Magneto | Keeping absorption affinity does not need consuming electric power, safe and reliable | Magnet and wall clutch need very big power during walking |
| Electromagnetic type | The clutch of magnet and wall is easy | Keeping absorption affinity needs consuming electric power, and the weight of electromagnet own is very heavy | |
| Thrust absorption | No leakage problem, strong to wall shape, material adaptability, obstacle detouring is easy | Control is complicated, noise is big, volume is big, efficient is low | |
By relatively, the present invention has adopted that to have the sucker size little, and good airproof performance has the multi-sucker negative pressure of vacuum suction type of the advantage of certain redundancy during outage.
The present invention set up one to the adaptation of the smooth wall height of building, dependable performance, volume is small and exquisite and microminiature climbing robot platform with flexible motion ability under the smooth wall environment of complexity.The present invention have own vol little, simple in structure, be active in one's movements, disguised strong, with low cost, the advantage such as strong that conforms, be with a wide range of applications in fields such as military, exploration, salvages.It can serve as the carrier of reconnaissance equipment, armament systems, communication system, finishes the multiple-task that rank can't finish, and has broad application prospects.
(4) description of drawings
Fig. 1 is single leg structure of the present invention and schematic layout pattern;
Fig. 2 is a bionical gecko health package assembly schematic diagram of the present invention;
Fig. 3 is put the pressure device schematic diagram for gas of the present invention;
Fig. 4 is a bionic mechanical gecko model machine design sketch of the present invention;
Fig. 5 is a control system functional block diagram of the present invention;
Fig. 6 examines bionical gecko control system block diagram for ATmega16 of the present invention;
Fig. 7 is bionical gecko robot of the present invention upper strata control circuit figure;
Fig. 8 is the bionical gecko robot control circuit figure of lower floor of the present invention.
(5) specific embodiment
Below in conjunction with accompanying drawing the structure of the present invention and the course of work are further detailed:
The present invention includes health package assembly and single leg structure, quadruplet list leg structure is installed on the health package assembly, two single bottom bands of trouser legs on every group of diagonal have a cover negative-pressure adsorption and put pressure device; The health package assembly comprises that two waists drive steering wheel, two air pumps and two gases and put pressure device, and each air pump is put pressure device with a gas respectively by pipeline and linked to each other with the sucker that two covers are single leg structure of diagonal distribution; Described single leg structure is made up of thigh, shank and sucker, shank comprises the knee joint steering wheel, sucker is installed in the below of knee joint steering wheel, thigh comprises hip joint elevating movement steering wheel, hip joint horizontal hunting steering wheel, link to each other by revolute pair between hip joint elevating movement steering wheel and the hip joint horizontal hunting steering wheel, between hip joint elevating movement steering wheel and knee joint steering wheel, be provided with the connecting rod that is connected by revolute pair.Putting pressure device is made of steering wheel, spring, steel wire rope, reel and fixing spring device, the main shaft of reel and steering wheel is connected, steel wire rope one end is fixed on the reel, and the other end is fixed on the front end of spring, and spring is fixed on the steering wheel by the fixing spring device; Sucker links to each other with the knee joint steering wheel by bearing; Connecting rod and hip joint horizontal hunting steering wheel are provided with sensor.
Respectively the structure of the present invention and the course of work are described below:
(1) the single leg structural design of bionical gecko:
Structure is formed:
In conjunction with Fig. 1-4, be that example is explained single leg frame for movement with the left front walking leg 37 of bionical gecko robot.
In conjunction with Fig. 1, the single leg of bionical gecko is made up of thigh, shank and sucker among the present invention, and the shank root is that knee joint links to each other with thigh by revolute pair 7.Thigh root is linked to each other with mainframe with revolute pair 2 by revolute pair 10, constitutes two-freedom hipbone joint.So the whole piece leg has three degree of freedom, be respectively kneed elevating movement, the horizontal hunting in hipbone joint and elevating movement.Sucker structure is made up of rubber suction cups 8, bearing 6 and plastics wireway 5.The mode that sucker can adopt big sucker to adsorb wall separately also can adopt the small sucker modes that make up more.Bearing is that the leg point for robot provides a unconfined free degree, is used for compensating the micro-corner that robot produces between thigh and the sucker when mobile on wall.All suckers produce negative pressure by air pump control, and the suction-operated of sucker can be adsorbed on the wall robot firmly.
Type of drive:
Three joints are all driven by the direct current steering wheel.Wherein the horizontal hunting in hipbone joint is directly driven by direct current steering wheel 12.The elevating movement in hipbone joint is directly driven by direct current steering wheel 11, and steering wheel 11 drives knee joint steering wheel 4 again and preceding terminal sucker 8 rotates around revolute pair 10.The knee joint drive principle is the same.It is more reasonable for motor is arranged, more compact structure, hipbone joint steering wheel 12 is close together with knee joint steering wheel 11, and the connecting rod 3 between knee joint steering wheel 11 and the shank steering wheel 4 is also made every effort to succinctly, and hipbone joint steering wheel 12 can be taked lateral arrangement and vertically arrange dual mode.
Sensor is arranged:
Perception in order to make the single leg of gecko have three direction power has added the power sense sensor respectively on thigh and shank among the design.The part of sensor as leg is embedded in the leg structure normal pressure of whole piece leg when wherein sensor 1 will be measured leg mistake kiss the earth, the pressure when sensor 9 is mainly measured the thigh horizontal hunting between whole piece leg and the barrier.
(2) gecko-emulated robot health package assembly
In conjunction with Fig. 2, the health package assembly mainly drives steering wheel 23 and 24, two air pumps 13 and 22, two gases by two waists and puts pressure device 14 and 21, two four-way gas- tpe fittings 16 and 19, six plastics conductor tube 15,5,17,18,20,25 and various connecting elements are formed.
In order to make bionical gecko robot energy flexible motion on wall, we add two frees degree of steering wheel (steering wheel 23, steering wheel 24) control that two horizontal directions are rotated at its waist, robot just has more redundancy like this, on wall, advance, retreat, rotation etc. will be free and relaxed, its motion mode is also more bionical.In order to make robot can cross over higher obstacle detouring, to cross bigger wall transition angle, can also increase the free degree that one to two vertical direction is rotated at the robot waist, the layout of steering wheel is compact more.
Air pump 13 and air pump 22 are controlled two groups of legs that diagonal is arranged respectively.Be that the example explanation produces the negative-pressure adsorption control procedure with air pump 13 below: air pump 13 control upper left corner legs and lower right corner leg are to the absorption of wall, terminal sucker links to each other with four-way tracheae jointing 16 with 17 by hard system plastics wireway 5 respectively before the two legs, the remaining mouths of two interfaces of four-way tracheae jointing 16 link to each other with the air entry of air pump by conduit, and another mouth links to each other by conduit 15 and gas means of deflation 14 (below detailed introduction is arranged).When robot crawls toward wall, air pump 13 work begin to bleed, because conduit 15 is put pressure device 14 by gas at this moment and is shut airproof, gas has only by conduit 5, conduit 17 inflows, what the front end of conduit 5, conduit 17 connected is the sucker of upper left corner leg and lower right corner leg, above sucker will be adsorbed on when running into smooth flat and gas suction function (negative-pressure adsorption power) is arranged firmly, like this entire machine people has just been fixed on the wall.And two other leg this moment just can bleed off the negative pressure in the sucker on the two other leg (losing negative-pressure adsorption power) by putting pressure device, carries out to step forward or the action of turning.The control procedure of air pump 22 is identical with air pump 13, and only it is to control lower left corner leg and upper right corner leg.
(3) bionical gecko gas is put pressure control device
Putting pressure device 14 with front end gas is that example is explained its operation principle.In conjunction with Fig. 3, bionical gecko is put the switch that pressure control device is exactly a control gas conducting and not conducting.It is to be made of steering wheel 26, spring 28, steel wire rope 30, reel 31 and fixing spring device 27.Reel 31 is connected with the main shaft of steering wheel 26; Steel wire rope 30 1 ends are fixed on the reel 31, and the other end is fixed on the front end of spring 28; 28 on spring is fixed on the steering wheel 26.
The course of work is as follows: when the two legs of air pump control need be lifted the leg motion, master controller will be controlled steering wheel 26 and drive reel 31 rotations, the rotation pulling steel wire rope 30 and spring 28 front ends of reel 31 move to the inside, spring 28 will become flexible in 29 a generation space in the position, soft rubber tube head 15 resiles thereupon, the gas conducting, the gas of the required suction of air pump is just offset by the gas that soft rubber tube head 15 these ends feed like this, sucker on the two legs of air pump control has also just lost the negative-pressure adsorption effect, thereby can easily lift.When the two legs when just now need adsorb with wall, steering wheel 26 just counter-rotating is returned, and spring 28 returns to original state, and 29 elastic force can flatten soft rubber tube head 15 spring 28 in the position, breather pipe is shut obstructed gas, constantly the bleeding and can make sucker produce negative pressure of air pump.This ventilation switch also can adopt magnetic valve directly to control, and shortcoming is that power consumption is very big, and the robot interior electric power system is difficult to bear.
(4) gecko-emulated robot general structure design:
In conjunction with Fig. 4, on basis, follow the principle of " behavior is bionical, outstanding function " to gecko model analysis and correlated performance research, we have designed the model prototype body of bionical gecko.Model machine adopts the general structure of parallel 4 walking legs, and every walking leg is a three degree of freedom.Body adopts the organic glass frame structure, and to reduce weight, default installing space and installing hole on body are convenient to the installation of equipment such as control circuit, sensor, power module simultaneously.Consider the needs of following outline packages simultaneously, taken into account the characteristics of bionical thing gecko profile, adopt flat structure on the whole; Also increased 32 and tail 35, can increase little steering wheel or spring in case of necessity and be controlled, it can be moved as biological gecko.Gecko model machine design sketch as shown in Figure 4.
The specific performance index is as follows:
Overall height: H=70mm
Longitudinal length: L=170mm (not containing the head and tail crust)
Transverse width: B=130mm (containing leg point sucker)
Fuselage gross weight: M=1.2kg (containing electric power system)
Sucker diameter: D=45mm
Single sucker maximum capacity ability: 2kg
Steering wheel size: 21mm * 23mm * 12mm
Steering wheel moment of torsion: 0.4N/m
Air pump peak suction: 6 atmospheric pressure
Bearing capacity: 0.6kg
Average speed: 0.1m/s
Maximum gradeability :-180 °
Single each joint rotation angle scope of leg:
Hipbone elevating movement :-90 °---+60 °
Hipbone horizontal hunting :-60 °---+60 °
Knee joint elevating movement :-90 °---+90 °
Above parameter is to record according to steering wheel and sucker that we use, we design like this in order that dwindle the volume of robot, the weight and the power consumption of minimizing robot as far as possible, increase its disguise and applicability in application, select for use the meeting of different model steering wheel and sucker entire machine people performance index different.
Bionical gecko is as the biomimetic type intelligence control system of a complexity, adopt the distributed hierarchical control system of multilayer multiple target, its structure as shown in Figure 5, it is by tissue class, coordinate level, three levels of execution level are formed, and, degree of intelligence cumulative according to levels of precision from top to bottom carried out the distribution of function by the principle that subtracts.
The effect on intelligence control system upper strata mainly is the behavioral function of imitation higher organism, is based on the system of knowledge.The effect of lower floor is the control task of carrying out, and mainly is that logarithm value is operated and computing.
Functional interpretation concrete at different levels is as follows:
(1) tissue class (analysis task): also being called " mission planning level ", mainly is for given external command and task, manages to find subtask or the motion combination that can finish this task.
(2) coordination grade (allocator): the order that acceptance is transmitted from tissue class, handle through real time information, produce a series of sequences that supply the concrete action of actuator execution.Be subdivided into again in this one-level between each walking leg intermodule coordination and each joint of walking leg and coordinate two-layer task.
(3) execution level: conventional hardware controls level, carry out specifically action.
This control system is to be the dcs of core structure with the ATmega16 single-chip microcomputer.Local subsystem is open-ended single-chip network, and they are responsible for steering wheel and drive, data acquisition, processing, and system block diagram is as shown in Figure 6.
Motion through observing biological gecko in most cases is to adopt two two sufficient gait forms to walk fast, and body's center of gravity is dynamic balancing, so the employing of bionical gecko is exactly two two sufficient gait motion forms.As shown in Figure 4, just walking leg 33,36 is that one group, walking leg 34,37 are one group.When walking leg 33,36 are fixed in health on the wall, and inspiration is opened, and walking leg 34,37 is lifted leg---step leg, robot waist motor rotates simultaneously, health is moved ahead, and walking leg 34,37 leg that falls again is fixed in health on the wall, another air valve is opened, walking leg 33,36 repeats the action of walking leg 34,37 just now, and such two groups of legs have got up with regard to shuttling movement.
Now travelling forward with gecko is example, and the specific implementation process of bionical gecko action is described in conjunction with Fig. 4:
Move ahead: front end gas is put pressure device 14 and is opened (control walking leg 34,37).
Walking leg 34,37 is lifted thigh.
Walking leg 34,37 thighs change forward, shank is to abduction, and front end gas is put pressure device 14 and closed, and changes before walking leg 33,36 thighs, and two steering wheels of waist rotate counterclockwise.
Walking leg 34,37 thighs are driveed down to the ground
Rear end gas is put pressure device 21 and is opened (control walking leg 33,36)
Walking leg 33,36 is lifted thigh
Walking leg 33,36 thighs change forward, shank is to abduction, and rear end gas is put pressure device 21 and closed, and changes before walking leg 34,37 thighs, and two steering wheels of waist clockwise rotate.
Walking leg 33,36 thighs are driveed down to the ground
Circulation this moment is finished, and continues to begin to carry out from the first step, realizes the shuttling movement of robot.Be noted that: in whole motion process, air pump 13 and air pump 22 are in the state of bleeding all the time.
Briefly introduce control circuit of the present invention in conjunction with Fig. 7, Fig. 8 at last: ATMega16 is as the main control chip of upper strata control circuit, by its control LCD3310 LCD, LCD is used for control information and status information in the display device people running, is convenient to operation; AT89C2051 utilizes the motion of pwm signal control steering wheel as the main control chip of lower floor's control circuit, has designed RS-232, RS-485 communication interface, is convenient to the expansion of lower circuit; Adopt the parallel communications mode to communicate by letter between upper strata main control chip ATmega16 and the main control chip AT89C2051 of lower floor, ATmega16 downloads in the ISP mode, and AT89C2051 downloads with serial mode.
Claims (9)
1, a kind of wall gecko imitation mini-robot, it comprises health package assembly and single leg structure, it is characterized in that: quadruplet list leg structure is installed on the health package assembly, and two single bottom bands of trouser legs on every group of diagonal have a cover negative-pressure adsorption and put pressure device; The health package assembly comprises that two waists drive steering wheel, two air pumps and two gases and put pressure device, and each air pump is put pressure device with a gas respectively by pipeline and linked to each other with the sucker that two covers are single leg structure of diagonal distribution; Described single leg structure is made up of thigh, shank and sucker, and shank comprises knee joint steering wheel and sucker.
2, wall gecko imitation mini-robot according to claim 1, it is characterized in that: sucker is installed in the below of knee joint steering wheel, thigh comprises hip joint elevating movement steering wheel, hip joint horizontal hunting steering wheel, link to each other by revolute pair between hip joint elevating movement steering wheel and the hip joint horizontal hunting steering wheel, between hip joint elevating movement steering wheel and knee joint steering wheel, be provided with the connecting rod that is connected by revolute pair.
3, wall gecko imitation mini-robot according to claim 1 and 2, it is characterized in that: the described pressure device of putting is made of steering wheel, spring, steel wire rope, reel and fixing spring device, the main shaft of reel and steering wheel is connected, steel wire rope one end is fixed on the reel, the other end is fixed on the front end of spring, and spring is fixed on the steering wheel by the fixing spring device.
4, wall gecko imitation mini-robot according to claim 1 and 2 is characterized in that: sucker links to each other with the knee joint steering wheel by bearing.
5, wall gecko imitation mini-robot according to claim 3 is characterized in that: sucker links to each other with the knee joint steering wheel by bearing.
6, wall gecko imitation mini-robot according to claim 1 and 2 is characterized in that: connecting rod and hip joint horizontal hunting steering wheel are provided with sensor.
7, wall gecko imitation mini-robot according to claim 3 is characterized in that: connecting rod and hip joint horizontal hunting steering wheel are provided with sensor.
8, wall gecko imitation mini-robot according to claim 4 is characterized in that: connecting rod and hip joint horizontal hunting steering wheel are provided with sensor.
9, wall gecko imitation mini-robot according to claim 5 is characterized in that: connecting rod and hip joint horizontal hunting steering wheel are provided with sensor.
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| CN101367413B (en) * | 2007-08-17 | 2010-10-13 | 高汉光 | Multifunctional robot for climbing wall |
| CN101890988A (en) * | 2010-06-02 | 2010-11-24 | 南京航空航天大学 | Adhesive toe for gecko robot and movement method thereof |
| CN101907121A (en) * | 2010-07-09 | 2010-12-08 | 华南理工大学 | Self-contained vacuum source negative pressure adsorption module |
| CN101927793A (en) * | 2010-07-23 | 2010-12-29 | 南京航空航天大学 | Variable-structure quadruped robot structure interconverting creeping motion and vertical motion |
| CN101941479A (en) * | 2010-07-20 | 2011-01-12 | 哈尔滨理工大学 | Spider robot |
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