阅读说明：本技术 一种仿生机器人足肢 (Bionic robot foot limb ) 是由 吕家美 于 2021-09-27 设计创作，主要内容包括：本发明公开了一种仿生机器人足肢,其结构包括躯干架、探头、曲轴关节、吸能臂板、夹取轮、吸盘足,躯干架一端设有探头,曲轴关节分设于躯干架侧边且躯干架通过曲轴关节连接吸能臂板,夹取轮设于躯干架中端位置且与其相互贯穿,吸盘足连接于吸能臂板一端,本发明具有的效果：通过设立转轮使得仿生机器人可选择采用双流传动模式或是单侧传动模式进行转向,从而解决现有仿生机器人在一些宽度和高度有限的环境下作业时移动和转向效率会受到限制和影响的问题。(The invention discloses a bionic robot limb, which structurally comprises a trunk frame, a probe, a crankshaft joint, an energy-absorbing arm plate, a clamping wheel and a sucker foot, wherein the probe is arranged at one end of the trunk frame, the crankshaft joint is arranged on the side edge of the trunk frame, the trunk frame is connected with the energy-absorbing arm plate through the crankshaft joint, the clamping wheel is arranged at the middle end of the trunk frame and penetrates through the trunk frame, and the sucker foot is connected to one end of the energy-absorbing arm plate: the bionic robot can selectively adopt a double-flow transmission mode or a single-side transmission mode to steer by arranging the rotating wheel, so that the problems that the moving and steering efficiency of the existing bionic robot can be limited and influenced when the existing bionic robot works in the environment with limited width and height are solved.)

1. The utility model provides a bionic robot foot limb, its structure includes trunk frame (1), probe (2), crankshaft joint (3), energy-absorbing arm board (4), presss from both sides and gets wheel (5), sucking disc foot (6), its characterized in that:

the body frame (1) one end be equipped with probe (2), crank shaft joint (3) divide and locate body frame (1) side and body frame (1) and connect energy-absorbing arm board (4) through crank shaft joint (3), the clamp press from both sides wheel (5) and locate body frame (1) middle-end position and run through each other with it, suction disc foot (6) connect in energy-absorbing arm board (4) one end.

2. The biomimetic robot foot limb according to claim 1, wherein: energy-absorbing arm board (4) including conduction board (40), belt pulley (41), even axle (42), valve (43), gentle glue wheel (44), conduction board (40) divide and be equipped with belt pulley (41) and through even axle (42) interconnect between belt pulley (41), even axle (42) bottom be equipped with valve (43) and conduction board (40) interconnect, gentle glue wheel (44) locate in conduction board (40).

3. The biomimetic robot foot limb according to claim 2, wherein: the flexible adhesive wheel (44) comprises a sub-rotating seat (440), a wheel cover (441), a rotating wheel (442), an adhesive wheel sleeve (443) and a wheel brake disc (444), wherein the sub-rotating seat (440) is embedded and connected with the wheel cover (441), the rotating wheel (442) is arranged in the wheel cover (441), the outer layer of the rotating wheel (442) is embedded and connected with the adhesive wheel sleeve (443), and the wheel brake disc (444) is connected to the side surface of the rotating wheel (442) at intervals.

4. The biomimetic robot foot limb according to claim 3, wherein: the wheel brake disc (444) comprises a piston shell (4440), a hydraulic oil duct (4441), a disc (4442) and friction gaskets (4443), wherein the hydraulic oil duct (4441) is arranged in the piston shell (4440), the hydraulic oil duct (4441) is attached to the disc (4442) and the friction gaskets (4443) are arranged on the inner side of the disc (4442) and correspond to each other.

5. The biomimetic robot foot limb according to claim 1, wherein: the clamping wheel (5) comprises a roller (50), a power shaft (51), a clamping rod (52) and a glue film (53), the roller (50) is connected to the top end of the power shaft (51), the clamping rod (52) is arranged at the bottom end of the power shaft (51) and connected with the roller, and the glue film (53) is distributed on the inner side of the clamping rod (52).

6. The biomimetic robot foot limb according to claim 1, wherein: the sucker foot (6) comprises a tray body (60), a pneumatic valve (61) and a silica gel tray surface (62), the top end of the tray body (60) is connected with the pneumatic valve (61), and the bottom end of the pneumatic valve (61) is communicated with the silica gel tray surface (62).

Technical Field

The invention relates to the field of robots, in particular to a bionic robot foot limb.

Background

Bionic robots are various in types, mainly including humanoid, bionic and biological robots, which work on biological characteristics by a system simulating the external shape, motion principle and behavior of organisms in nature, wherein, the bionic robot in the shape of the spider can change the shape of the robot according to the change of the environment, so that the robot can enter various disaster sites which are difficult to access to carry out investigation, but the limited structure is single, when in crawling, the bionic foot limb is required to be opened for moving, the moving and steering efficiency is limited and influenced under the environment with limited width and height, and the bionic foot limb cannot be used for clamping objects, therefore, the bionic robot foot limb needs to be developed so as to solve the problem that the moving and steering efficiency of the existing bionic robot is limited and influenced when the existing bionic robot works in the environment with limited width and height.

Summary of the invention

Aiming at the defects of the prior art, the invention is realized by the following technical scheme: a bionic robot foot limb structurally comprises a trunk frame, a probe, a crankshaft joint, an energy-absorbing arm plate, clamping wheels and a sucker foot, wherein the probe is arranged at one end of the trunk frame, the crankshaft joint is arranged on the side edge of the trunk frame, the trunk frame is connected with the energy-absorbing arm plate through the crankshaft joint, the clamping wheels are arranged at the middle end of the trunk frame and penetrate through the trunk frame, the sucker foot is connected with one end of the energy-absorbing arm plate, the trunk frame is of a main body structure of a robot and can be connected with the crankshaft joint through a polygonal structure, the probe is a visual photosensitive structure of the robot and comprises a three-dimensional sensing camera, information which can be provided comprises the volume, the shape, the position, the direction and the distance from an object can be generated through different measuring processes, such as three-dimensional vision, structural light and laser triangulation, and the three-dimensional vision adopts the triangulation principle, three-dimensional subassembly of making a video recording has very high accuracy when closely measuring the object, than supersound and infrared resolution ratio will be high, and more reliable when the environment is chaotic, especially at the surface that is difficult to control or under the darker condition of ambient light, laser triangulation also can work, even be the object of low contrast, also can provide accurate data, the structure of crank shaft joint for control and linkage energy-absorbing arm board swing and stretch action, the energy-absorbing arm board possesses mobility and the cooperation is got the wheel and the sucking disc foot can be grabbed most sizes and be less than bionic robot's object.

As a further optimization of the technical scheme, the energy-absorbing arm plate comprises a conduction plate, belt pulleys, a connecting shaft, a valve and a flexible adhesive wheel, wherein the conduction plate is provided with the belt pulleys, the belt pulleys are connected with each other through the connecting shaft, the bottom of the connecting shaft is provided with the valve which is connected with the conduction plate, the flexible adhesive wheel is arranged in the conduction plate, the conduction plate adopts a hollow plate to manufacture a hollow structure of the energy-absorbing arm plate, the belt pulleys at the two ends of the conduction plate drive the conduction plate to rotate through the connecting shaft, the belt pulleys can generate circulating rotation in different directions between the structures and drive the connected flexible adhesive wheel to realize linkage, the valve is provided with a pair in the structure, one structure is used for applying pressure to control the bending of the conduction plate so as to realize the opening and closing actions of the energy-absorbing arm plate, the other structure is used for enabling the sucker feet to be connected with vacuum, and is mainly used for controlling the pneumatic valves on the sucker feet, change the pressure value and the vacuum of its structure, gentle glue the contained angle that the wheel formed through between two adjacent wheel body structures, not only the rotatory removal that drives the energy-absorbing arm board of accessible structure, can also utilize the change of contained angle number of degrees to realize taking to less size object.

As a further optimization of the technical scheme, the flexible adhesive wheel comprises a sub-rotating seat, a wheel cover, a rotating wheel, an adhesive wheel sleeve and a wheel brake disc, wherein the sub-rotating seat is connected with the wheel cover in an embedded manner, the rotating wheel is arranged in the wheel cover, the adhesive wheel sleeve is connected with the outer layer of the rotating wheel in an embedded manner, the wheel brake disc is connected to the side surface of the rotating wheel at intervals, the sub-rotating seat is a bearing driving structure and is divided into two parts, the bearing driving structure is used for respectively driving the rotating wheel on one side of the sub-rotating seat to rotate towards the same direction or opposite directions, the rotating wheel generates a forward or backward movement action of the energy-absorbing arm plate structure in the same horizontal line direction of the rotating wheel under the condition that the rotating direction is consistent, the adhesive wheel sleeve between the two structures can be continuously screwed towards the middle part when the rotating direction of the rotating wheel is opposite, the adhesive wheel sleeve is made of flexible silica gel as the rotating wheel shell, and has the function of increasing the ground holding force of the ground environment part when moving, the bionic robot can select a double-flow transmission mode or a single-side transmission mode to steer according to different operation environments, the double-flow transmission mode is that the rotating wheels on two sides rotate in different directions, the rotating wheels on two sides rotate in the direction of steering by the aid of a split rotating seat as two independent driving sources, power can be transmitted to the two rotating wheels respectively, one rotating wheel can rotate forwards, and the other rotating wheel rotates backwards to realize free steering of the rotating wheels on the ground, the single-side transmission mode is that the rotating wheel on one side is locked by the wheel brake disc, and the rotating wheel on the other side rotates by taking the locked rotating wheel as a base point, so that the steering is completed.

As a further optimization of the technical scheme, the wheel brake disc comprises a piston shell, a hydraulic oil duct, a disc for these persons and a friction gasket, wherein the hydraulic oil duct is arranged in the piston shell, the hydraulic oil duct is attached to the disc for communicating with the same person and the friction gasket is arranged on the inner side of the disc for mutually corresponding, the wheel brake disc drives the disc for these persons to compress inwards by the pressure generated by hydraulic oil to the disc for these persons after hydraulic oil is injected into the disc for these persons through the hydraulic oil duct, the disc for these persons contracts inwards to squeeze the friction gasket, and the friction gasket shortens the distance between the wheel and is completely attached to the wheel until the wheel is braked.

As a further optimization of the technical scheme, the clamping wheel comprises a roller, a power shaft, a clamping rod and a glue film, the roller is connected to the top end of the power shaft, the clamping rod is arranged at the bottom end of the power shaft and connected with the power shaft, the glue film is distributed on the inner side of the clamping rod, the roller can rotate by taking the power shaft as a driving structure, the roller structure is positioned on the top end surface of the trunk frame and protrudes out of the surface, so that the upper end surface and the lower end surface can synchronously move by rolling the roller when the bionic robot works in narrow environments such as pipelines or gaps, the moving efficiency is improved, the power shaft drives the clamping rod at the bottom to open and close, the acting force among glue film molecules is much stronger than that of hydrocarbon, and therefore, compared with the hydrocarbon with the same molecular weight, the bionic robot has the advantages of high viscosity, strong surface tension, large surface energy, weak film forming capability and high surface tension, the high-strength adhesion effect on an object can be generated after the clamping rod is combined, the anti-drop performance after grabbing the object is higher, has increased bionic robot's operation application scope.

As the further optimization of this technical scheme, the sucking disc enough including disk body, pneumatic valve, silica gel quotation, disk body top connect the pneumatic valve, pneumatic valve bottom intercommunication silica gel quotation, the disk body adopts the conical structure body as the sufficient support body structure of sucking disc, the silica gel quotation adopts soft organic silicon structure to constitute, utilize the pneumatic valve to carry out pneumatic control, after applying compressed air, the pressure value and the vacuum that change the structure through the pneumatic valve can make the silica gel quotation shrink to the top, the inside bending of silica gel quotation and parcel article, its outside atmospheric pressure is higher than inside atmospheric pressure under the shrink state, the object can adsorb on the silica gel quotation.

Advantageous effects

The bionic robot foot limb is reasonable in design and strong in functionality, and has the following beneficial effects:

the invention firstly utilizes the valve to respectively realize the opening and closing action of the energy-absorbing arm plate and control the sucker foot to change the pressure value and the vacuum degree of the structure, after compressed air is applied, the pressure value and the vacuum degree of the structure are changed through the pneumatic valve, the silica gel disc surface can be contracted towards the top, the silica gel disc surface is bent inwards and wraps objects, the external air pressure is higher than the internal air pressure in the contracted state, the objects can be adsorbed on the silica gel disc surface, the sucker foot can be attached on the objects to wrap, carry and release the objects, the energy-absorbing arm plate can be driven to move through the rotation of the flexible adhesive wheel structure, the objects with smaller size can be taken by utilizing the change of the included angle degree, even on the underwater rough surface, the covered sucker can form firm sealing, can grasp, move and operate various objects, the flexible conical design is matched with the sucker, and can firmly grasp various shapes by adsorption, size and texture of the object;

the invention enables the bionic robot to select a double-flow transmission mode or a single-side transmission mode to steer by arranging the rotating wheels, the double-flow transmission mode is that the rotating wheels on two sides rotate in different directions, power is respectively transmitted to the two rotating wheels by the aid of the split rotating seat as two independent driving sources during steering, the rotating wheels can freely steer on the ground by the aid of forward rotation of one rotating wheel and backward rotation of the other rotating wheel, a central steering effect is formed, the single-side transmission mode is that the rotating wheels on one side are locked by the aid of a wheel brake disc, and the rotating wheels on the other side rotate by taking the locked rotating wheels as base points, so that steering is completed, and the problems that the moving and steering efficiency of the existing bionic robot are limited and influenced during operation in certain environments with limited width and height are solved.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic side view of a bionic robot limb of the present invention;

FIG. 2 is a side cross-sectional view of an energy absorbing arm panel construction of the present invention;

FIG. 3 is a side cross-sectional view of the construction of the compliant adhesive wheel of the present invention;

FIG. 4 is a front cross-sectional view of the wheel brake disc structure of the present invention;

FIG. 5 is a side cross-sectional view of the gripping wheel construction of the present invention;

FIG. 6 is a side cross-sectional view of the suction cup foot configuration of the present invention;

in the figure: the device comprises a trunk frame-1, a probe-2, a crankshaft joint-3, an energy-absorbing arm plate-4, a clamping wheel-5, a sucker foot-6, a conduction plate-40, a belt pulley-41, a connecting shaft-42, a valve-43, a flexible adhesive wheel-44, a separating and rotating seat-440, a wheel cover-441, a rotating wheel-442, an adhesive wheel sleeve-443, a wheel brake disc-444, a piston shell-4440, a hydraulic oil duct-4441, a disc-4442, a friction gasket-4443, a roller-50, a power shaft-51, a clamping rod-52, an adhesive film-53, a disc body-60, a pneumatic valve-61 and a silica gel disc surface-62.

Detailed Description

In order to make the technical means, the original characteristics, the achieved purposes and the effects of the invention easy to understand, the following description and the accompanying drawings further illustrate the preferred embodiments of the invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1

Referring to fig. 1-3, the present invention provides an embodiment of a bionic robot foot limb:

referring to fig. 1, a bionic robot limb structurally comprises a trunk frame 1, a probe 2, a crankshaft joint 3, an energy-absorbing arm plate 4, a clamping wheel 5 and a sucker foot 6, wherein the probe 2 is arranged at one end of the trunk frame 1, the crankshaft joint 3 is respectively arranged at the side edge of the trunk frame 1, the trunk frame 1 is connected with the energy-absorbing arm plate 4 through the crankshaft joint 3, the clamping wheel 5 is arranged at the middle end position of the trunk frame 1 and is mutually penetrated with the trunk frame, the sucker foot 6 is connected with one end of the energy-absorbing arm plate 4, the trunk frame 1 is a main body structure of a robot body, the connection with the crankshaft joint 3 can be realized through a polygonal structure, the probe 2 is a visual photosensitive structure of the robot and is composed of a three-dimensional sensing camera, provided information comprises volume, shape, position, direction and distance from an object, and three-dimensional data can be generated through different measuring processes, if the stereovision, structure light and laser triangulation, the stereovision adopts the triangulation principle, the three-dimensional subassembly of making a video recording has very high accuracy when closely measuring the object, than supersound and infrared resolution ratio be high, and it is more reliable when the environment is chaotic, especially at the surface that is difficult to control or under the darker condition of environment light, laser triangulation also can work, even be the object of low contrast, also can provide accurate data, bent axle joint 3 is for controlling and linking the structure of 4 swings of energy-absorbing arm board and the action of stretching, energy-absorbing arm board 4 possesses the mobility ability and the cooperation is got wheel 5 and sucking disc foot 6 and can be snatched most sizes and be less than bionic robot's object.

Referring to fig. 2, the energy-absorbing arm plate 4 includes a conduction plate 40, belt pulleys 41, a connecting shaft 42, valves 43, and flexible adhesive wheels 44, the conduction plate 40 is provided with the belt pulleys 41 respectively, the belt pulleys 41 are connected with each other through the connecting shaft 42, the bottom of the connecting shaft 42 is provided with the valves 43 and is connected with the conduction plate 40, the flexible adhesive wheels 44 are arranged in the conduction plate 40, the conduction plate 40 is made into a hollow structure of the energy-absorbing arm plate 4 by hollow plates, the belt pulleys 41 at two ends of the conduction plate are driven to rotate by the connecting shaft 42, the belt pulleys 41 can generate cyclic rotation in different directions between the structures and drive the connected flexible adhesive wheels 44 to realize linkage, the valves 43 are provided with a pair in the structure, one of the structures is used for applying pressure to control the bending of the conduction plate 40 and further realize the opening and closing of the energy-absorbing arm plate 4, the other structure is used for making the suction cup feet 6 engage vacuum, the pneumatic valve 61 on the mainly used control sucker foot 6 changes the pressure value and the vacuum degree of its structure, and gentle gluey wheel 44 is through the contained angle that forms between two adjacent wheel body structures, and not only the rotatory removal that drives energy-absorbing arm board 4 of accessible structure can also utilize the change of contained angle number of degrees to realize taking to less size object.

Referring to fig. 3, the flexible adhesive wheel 44 includes a sub-rotating seat 440, a wheel cover 441, a rotating wheel 442, an adhesive wheel sleeve 443, and a wheel brake disc 444, the sub-rotating seat 440 is connected to the wheel cover 441 in an embedded manner, the rotating wheel 442 is disposed in the wheel cover 441 and the adhesive wheel sleeve 443 is connected to the outer layer of the rotating wheel 442 in an embedded manner, the wheel brake disc 444 is connected to the side surface of the rotating wheel 442 at intervals, the sub-rotating seat 440 is a bearing driving structure and is divided into two parts for driving the rotating wheel 442 at one side of the sub-rotating seat to rotate in the same direction or in the opposite direction, the rotating wheel 442 generates a driving force to move the energy-absorbing arm plate 4 structure forward or backward in the same horizontal line direction as the rotating wheel 442, and when the rotating direction of the rotating wheel 442 is opposite, the adhesive wheel sleeve 443 between the two structures is continuously screwed in the middle position, the adhesive wheel sleeve 443 is made of a flexible silica gel material and serves as the casing of the rotating wheel 442, which not only increases the ground gripping force of the environmental elements during movement, also in order to increase the degree of adhesion friction between the bionic robot and the object by means of the soft rubber property of the material, when the small-sized object enters the adhesive wheel sleeve 443 structure, an extrusion force can be formed on the surface of the object through a continuously screwed included angle, the extrusion force generates a finger-like pinching effect, and then the moving and taking functions generated by combining the rotating wheel 442 with the adhesive wheel sleeve 443 structure are realized, the wheel brake disc 444 realizes the steering command and the completion action of the rotating wheel 442 by means of a locking mechanism inside the structure, according to the difference of the operating environment, the bionic robot can select a double-flow transmission mode or a single-side transmission mode to steer, the double-flow transmission mode is that the rotating wheels 442 on two sides rotate in different directions, the branch 440 is used as two independent driving sources to respectively transmit power to the two rotating wheels 442 during steering, one rotating wheel 442 can rotate forwards, and the other rotating wheel 442 rotates backwards to realize the free steering of the rotating wheel 442 on the ground, the one-sided transmission mode has a center steering effect, in which the one-sided rotor 442 is locked by the brake disc 444, and the other-sided rotor 442 rotates based on the locked rotor 442 to complete steering.

Example 2

Referring to fig. 1-6, the present invention provides an embodiment of a bionic robot foot limb:

referring to fig. 1, a bionic robot limb structurally comprises a trunk frame 1, a probe 2, a crankshaft joint 3, an energy-absorbing arm plate 4, a clamping wheel 5 and a sucker foot 6, wherein the probe 2 is arranged at one end of the trunk frame 1, the crankshaft joint 3 is respectively arranged at the side edge of the trunk frame 1, the trunk frame 1 is connected with the energy-absorbing arm plate 4 through the crankshaft joint 3, the clamping wheel 5 is arranged at the middle end position of the trunk frame 1 and is mutually penetrated with the trunk frame, the sucker foot 6 is connected with one end of the energy-absorbing arm plate 4, the trunk frame 1 is a main body structure of a robot body, the connection with the crankshaft joint 3 can be realized through a polygonal structure, the probe 2 is a visual photosensitive structure of the robot and is composed of a three-dimensional sensing camera, provided information comprises volume, shape, position, direction and distance from an object, and three-dimensional data can be generated through different measuring processes, if the stereovision, structure light and laser triangulation, the stereovision adopts the triangulation principle, the three-dimensional subassembly of making a video recording has very high accuracy when closely measuring the object, than supersound and infrared resolution ratio be high, and it is more reliable when the environment is chaotic, especially at the surface that is difficult to control or under the darker condition of environment light, laser triangulation also can work, even be the object of low contrast, also can provide accurate data, bent axle joint 3 is for controlling and linking the structure of 4 swings of energy-absorbing arm board and the action of stretching, energy-absorbing arm board 4 possesses the mobility ability and the cooperation is got wheel 5 and sucking disc foot 6 and can be snatched most sizes and be less than bionic robot's object.

Referring to fig. 2, the energy-absorbing arm plate 4 includes a conduction plate 40, belt pulleys 41, a connecting shaft 42, valves 43, and flexible adhesive wheels 44, the conduction plate 40 is provided with the belt pulleys 41 respectively, the belt pulleys 41 are connected with each other through the connecting shaft 42, the bottom of the connecting shaft 42 is provided with the valves 43 and is connected with the conduction plate 40, the flexible adhesive wheels 44 are arranged in the conduction plate 40, the conduction plate 40 is made into a hollow structure of the energy-absorbing arm plate 4 by hollow plates, the belt pulleys 41 at two ends of the conduction plate are driven to rotate by the connecting shaft 42, the belt pulleys 41 can generate cyclic rotation in different directions between the structures and drive the connected flexible adhesive wheels 44 to realize linkage, the valves 43 are provided with a pair in the structure, one of the structures is used for applying pressure to control the bending of the conduction plate 40 and further realize the opening and closing of the energy-absorbing arm plate 4, the other structure is used for making the suction cup feet 6 engage vacuum, the pneumatic valve 61 on the mainly used control sucker foot 6 changes the pressure value and the vacuum degree of its structure, and gentle gluey wheel 44 is through the contained angle that forms between two adjacent wheel body structures, and not only the rotatory removal that drives energy-absorbing arm board 4 of accessible structure can also utilize the change of contained angle number of degrees to realize taking to less size object.

Referring to fig. 3, the flexible adhesive wheel 44 includes a sub-rotating seat 440, a wheel cover 441, a rotating wheel 442, an adhesive wheel sleeve 443, and a wheel brake disc 444, the sub-rotating seat 440 is connected to the wheel cover 441 in an embedded manner, the rotating wheel 442 is disposed in the wheel cover 441 and the adhesive wheel sleeve 443 is connected to the outer layer of the rotating wheel 442 in an embedded manner, the wheel brake disc 444 is connected to the side surface of the rotating wheel 442 at intervals, the sub-rotating seat 440 is a bearing driving structure and is divided into two parts for driving the rotating wheel 442 at one side of the sub-rotating seat to rotate in the same direction or in the opposite direction, the rotating wheel 442 generates a driving force to move the energy-absorbing arm plate 4 structure forward or backward in the same horizontal line direction as the rotating wheel 442, and when the rotating direction of the rotating wheel 442 is opposite, the adhesive wheel sleeve 443 between the two structures is continuously screwed in the middle position, the adhesive wheel sleeve 443 is made of a flexible silica gel material and serves as the casing of the rotating wheel 442, which not only increases the ground gripping force of the environmental elements during movement, also in order to increase the degree of adhesion friction between the bionic robot and the object by means of the soft rubber property of the material, when the small-sized object enters the adhesive wheel sleeve 443 structure, an extrusion force can be formed on the surface of the object through a continuously screwed included angle, the extrusion force generates a finger-like pinching effect, and then the moving and taking functions generated by combining the rotating wheel 442 with the adhesive wheel sleeve 443 structure are realized, the wheel brake disc 444 realizes the steering command and the completion action of the rotating wheel 442 by means of a locking mechanism inside the structure, according to the difference of the operating environment, the bionic robot can select a double-flow transmission mode or a single-side transmission mode to steer, the double-flow transmission mode is that the rotating wheels 442 on two sides rotate in different directions, the branch 440 is used as two independent driving sources to respectively transmit power to the two rotating wheels 442 during steering, one rotating wheel 442 can rotate forwards, and the other rotating wheel 442 rotates backwards to realize the free steering of the rotating wheel 442 on the ground, the one-sided transmission mode has a center steering effect, in which the one-sided rotor 442 is locked by the brake disc 444, and the other-sided rotor 442 rotates based on the locked rotor 442 to complete steering.

Referring to fig. 4, the wheel brake disc 444 includes a piston housing 4440, a hydraulic oil duct 4441, a disc 4442 and friction pads 4443, the piston housing 4440 is provided with the hydraulic oil duct 4441, the hydraulic oil duct 4441 is attached to the disc 4442 and the friction pads 4443 are provided on the inner side of the disc 4442 to correspond to each other, the disc brake disc 444 drives the disc 4442 to compress inward by the pressure generated by the hydraulic oil on the disc 4442 after the hydraulic oil is injected through the hydraulic oil duct 4441, the disc 4442 contracts inward to squeeze the friction pads 4443, and the friction pads 4443 shorten the distance between the disc brake disc and the rotating wheel 442 and are completely attached to the rotating wheel 442 until the rotating wheel 442 is braked.

Referring to fig. 5, the gripping wheel 5 includes a roller 50, a power shaft 51, a clamping rod 52, and a glue film 53, the roller 50 is connected to the top end of the power shaft 51, the clamping rod 52 is disposed at the bottom end of the power shaft 51 and connected thereto, the glue film 53 is disposed on the inner side of the clamping rod 52, the roller 50 can rotate by using the power shaft 51 as a driving structure, because the roller 50 is located at the top end of the trunk frame 1 and extends out of the surface, the bionic robot can roll by the roller 50 to realize synchronous movement of the upper and lower end surfaces when operating in a narrow environment such as a pipeline or a gap, the moving efficiency is improved, the power shaft 51 drives the clamping rod 52 at the bottom to open and close, and the glue film 53 has a stronger intermolecular acting force than a hydrocarbon, so that the adhesive film has a higher viscosity, a higher surface tension, a higher surface energy, a lower film forming ability, and a higher surface tension characteristic that the adhesive effect on an object can be generated by combining the clamping rod 52, the anti-drop performance after grabbing the object is higher, has increased bionic robot's operation application scope.

Please refer to fig. 6, the sucker foot 6 comprises a tray body 60, a pneumatic valve 61 and a silica gel tray surface 62, the pneumatic valve 61 is connected to the top end of the tray body 60, the bottom end of the pneumatic valve 61 is communicated with the silica gel tray surface 62, the tray body 60 adopts a conical structural body as a frame body structure of the sucker foot 6, the silica gel tray surface 62 adopts a soft organic silicon structure, the pneumatic valve 61 is utilized for pneumatic control, after compressed air is applied, the pressure value and the vacuum degree of the structure are changed through the pneumatic valve 61, so that the silica gel tray surface 62 is contracted towards the top, the silica gel tray surface 62 is bent inwards and wraps up objects, the external air pressure is higher than the internal air pressure in the contracted state, and the objects can be adsorbed on the silica gel tray surface 62.

The specific realization principle is as follows:

according to different working environments, the bionic robot can select a double-flow transmission mode or a single-side transmission mode for steering, the double-flow transmission mode is that the rotating wheels 442 on two sides rotate in different directions, power is respectively transmitted to the two rotating wheels 442 by the aid of the branch rotating seat 440 as two independent driving sources during steering, the rotating wheels 442 can freely steer on the ground by the aid of the forward rotation of one rotating wheel 442 and the backward rotation of the other rotating wheel 442, a central steering effect is formed, the single-side transmission mode is that the rotating wheels 442 on one side are locked by the wheel brake disc 444, the wheel brake disc 444 drives the disc 4442 to compress inwards by pressure generated by hydraulic oil on the disc 4442 after the hydraulic oil is injected into the disc brake disc 444 through the hydraulic oil duct 4441, the disc 4442 contracts inwards to extrude the friction pad 4443, the friction pad 4443 shortens the distance between the wheel 442 and completely fits the rotating wheels 442 until the rotating wheels 442 are locked, and the rotating wheel 442 on the other side rotates by taking the locked rotating wheel 442 as a base point, so as to complete steering, and the problem that the moving and steering efficiency of the existing bionic robot can be limited and influenced when the robot works in the environment with limited width and height is solved.

While there have been shown and described what are at present considered the fundamental principles of the invention, the essential features and advantages thereof, it will be understood by those skilled in the art that the present invention is not limited by the embodiments described above, which are merely illustrative of the principles of the invention, but rather, is capable of numerous changes and modifications in various forms without departing from the spirit or essential characteristics thereof, and it is intended that the invention be limited not by the foregoing descriptions, but rather by the appended claims and their equivalents.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.