Wind-vibration-resistant climbing and attaching robot imitating Anleski

Abstract

The invention belongs to the field of intelligent robots, and relates to a wind-vibration-resistant climbing and attaching robot imitating Anleski, which is composed of a body function module, a sole function module, a leg function module, a control and drive function module and a power supply device. The body function module comprises a head, a spine for completing a cross gait advancing function through bending, a flexible abdomen film made of magnetic sensitive rubber, a tail for converting wind energy into advancing power through bending deformation, and a rib frame; wherein the sole function module is composed of toes and toe connecting pieces, and the toes comprise claw thorns and multiple sections of phalanges; and the leg function module comprises a pneumatic function part and a movement function part. According to the robot, by referring to the structural change characteristics of Anlerei in strong wind, the flexible belly part and the flexible tail part capable of adjusting aerodynamic performance and the adhesion soles capable of improving the adhesion capacity are designed, so that the problem of stable climbing in the strong wind environment can be solved, and the robot can adapt to a wall surface with a certain curvature and can adapt to wider and more complex scenes.

Description

technical field [0001] The invention belongs to the field of intelligent robots, and relates to a wind-vibration-resistant crawling robot imitating anole lizards. Background technique [0002] One of the key points in the field of wall-climbing robots is the problem of climbing performance. All countries in the world have certain research results on the bionic mechanism, and have carried out in-depth research on various adsorption methods to improve the climbing performance of robots. In foreign countries, the Stickybo robot developed by Stanford University in the United States uses gecko-like artificial bristles as the adhesive material. Although its dry adsorption method brings good flat surface climbing performance, it lacks the ability to resist wind disturbance and cannot meet the complex environment. need. A series of robots such as Waalbot, crawler wall-climbing robot, and Geckobo developed by Carnegie Mellon University have insufficient adhesion, and have no control...

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Problems solved by technology

[0003] In view of this, the purpose of the present invention is to provide a wind-vibration-resistant crawling robot imitating anole lizards, so as to solve the problem that the existing wall-climbing robots have insufficient wind resistance in complex environments with strong winds, low climbing performance, and lack of controllability. The ability to adapt to the environment, the flexibility is not high, and the limitations of the wall-climbing environment are large

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