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Foot pad for wet-adhesion wall climbing bio-robot

A wall-climbing robot and foot pad technology, applied in the field of bionics, to achieve the effects of easy processing, reduced contact area, and simple structure

Inactive Publication Date: 2011-05-25
TONGJI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Because the geometric dimensions of the surface microstructure of the foot pads of hygroscopic animals are in the micron or even nanometer scale, and the structure is complex, based on the existing manufacturing technology and processing precision, it is very difficult to completely replicate the foot pads of hygroscopic animals, and it is unnecessary

Method used

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  • Foot pad for wet-adhesion wall climbing bio-robot
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  • Foot pad for wet-adhesion wall climbing bio-robot

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Embodiment Construction

[0025] The present invention will be further described below in conjunction with the embodiments shown in the accompanying drawings.

[0026] Foot pads for bionic wet-suction robots, such as figure 1 As shown, it mainly includes a curved surface with a microstructure, a bionic fiber slant in the middle layer and a silicone plane 7 .

[0027] The curved surface with microstructure is divided into three parts: smooth curved surface 1 at the front end of the foot pad, central plane 2 of the foot pad, and smooth curved surface 3 at the rear end of the foot pad. The projected area of ​​the smooth curved surface 1 at the front end of the foot pad is 25mm×30mm, the radius of curvature is 44mm, the height after bending is 10mm, and there is no microstructure on the surface. The area of ​​the central plane 2 of the foot pad is 25mm×12mm, and the surface has a microstructure pattern with a side length of 0.2mm, a height of 0.3mm, and a spacing of 0.1mm, such as figure 2 As shown, th...

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Abstract

The invention relates to a foot pad for a wet-adhesion wall climbing bio-robot, which belongs to the field of bionics and comprises a curved surface with a microstructure, a bionic fiber inclined slice in a middle layer and a silica gel flat surface. When the foot pad is made, the cured surface with a microstructure and the bionic fiber inclined slice in the middle layer are cast together by molding; the bionic fiber inclined slice is fixed in a groove of the silica gel flat surface by bonding agents to finish packaging of the foot pad; and the foot pad is installed at the foot end of the robot through the threaded holes on the silica gel flat surface by using screws. The mold comprises an upper end cover, a bionic fiber inclined slice part in a middle layer and a lower end cover. The invention is favorable for the excretion and the discharge of mucus and the increase of effective contact area between the foot pad and the wall surface. The invention can embody the direction of adhesion and stripping and realize the effective control over the processes of adhesion and stripping. Meanwhile, the invention has the advantages of simple structure as well as soft and easily processed material, and can meet the requirements of a wall climbing robot on adsorption force on different occasions.

Description

technical field [0001] The invention belongs to the field of bionics, and relates to a climbing structure of a bionic wet-suction wall-climbing robot, in particular to a bionic wet-suction wall-climbing robot foot pad. Background technique [0002] In recent years, researchers in animal physiology and bionics have conducted in-depth research on the adsorption source of hygroscopic reptiles and the physiological characteristics of the adsorption mechanism, and learned that the main source of the adsorption force of hygroscopic animal footpads is Surface tension or capillary force produced when mucus secreted by the footpad forms a thin film between the footpad and the wall. Inspired by this, by imitating the surface microstructure of the foot pads of wet-sucking animals, the foot pads of the bionic wet-sucking wall-climbing robot were designed. Because the geometric dimensions of the surface microstructure of the foot pads of hygroscopic animals are in the micron or even na...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/06
Inventor 何斌黎明和陆汉雄秦海燕
Owner TONGJI UNIV
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