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Bionic crawler-type adhesion walking mechanism and moving method thereof

A walking mechanism and crawler-type technology, applied in the field of bionic robots, can solve problems such as inability to adjust adaptively, fixed mechanical properties, etc., and achieve the effect of solving internal redundant forces

Active Publication Date: 2014-06-11
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The mechanical properties of this type of sole material are fixed, and it cannot be adaptively adjusted when the wall angle changes or the applied load changes to maintain the best adhesion state and avoid adhesion failure.

Method used

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  • Bionic crawler-type adhesion walking mechanism and moving method thereof
  • Bionic crawler-type adhesion walking mechanism and moving method thereof
  • Bionic crawler-type adhesion walking mechanism and moving method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037] Such as Figure 1a and Figure 1bAs shown, a bionic crawler-type adhesive walking mechanism includes a fuselage frame 1, a tensioning mechanism, a driving mechanism, and an adhesive belt 12. The driving mechanism includes a driving motor 3, a driving motor gear 4, a driving wheel 6, Driven wheel 13, the driving wheel 6 is connected to one end of the fuselage frame 1 through the gear shaft 5, the driven wheel 13 is connected to the other end of the fuselage frame 1 through the driven wheel shaft 14, and the drive motor 3 drives The driving motor gear 4, the driving motor gear 4 is meshed with the gear shaft 5, and the tensioning mechanism includes a tensioning wheel frame 7, a tensioning spring 10, a miniature force sensor 11, a tensioning wheel 9, a sleeve The sleeve 17, the sleeve 17 is arranged on the upper surface of the fuselage frame 1, the upper surface of the sleeve 17 is provided with the miniature force sensor 11, and the tensioning wheel frame 7 includes a sha...

Embodiment 2

[0042] Such as Figure 2a , Figure 2b and Figure 2c As shown, the sleeve 17 is a lifting sleeve arranged on the upper surface of the fuselage frame 1, the outer surface of the lifting sleeve is provided with a rack, and the fuselage frame 1 is provided with a connecting tensioning sleeve. The driving gear 18 of the motor 19, the driving gear 18 meshes with the rack of the lifting sleeve and drives the lifting sleeve to go up and down.

[0043] image 3 Shown is a schematic view of the second embodiment of the adhesive running gear traveling on a flat surface. The robot body outputs rotation and translation motions in the x-y plane to the adhesive walking mechanism by controlling the lateral slider 2; the robot body first outputs rotational motion so that the line connecting the main and follower wheels of the adhesive walking mechanism and the wall forms a certain angle α (position posture angle). The DC motor 3 rotates to drive the adhesion mechanism and the body to ad...

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Abstract

The invention discloses a bionic crawler-type adhesion walking mechanism and a moving method thereof. The bionic crawler-type adhesion walking mechanism comprises a machine frame, a tensioning mechanism, a driving mechanism and an adhesion belt, wherein the driving mechanism comprises a driving motor, a driving motor gear, a driving wheel and a driven wheel; the driving wheel is connected with one end of the machine frame through a gear shaft; the driven wheel is connected with the other end of the machine frame through a driven wheel shaft; the driving motor gear is driven by the driving motor; the driving motor gear is meshed with the gear shaft; the tensioning mechanism comprises a tensioning wheel frame, a tensioning spring, a miniature force sensor, a tensioning wheel and a sleeve; the tensioning wheel, the driving wheel and the driven wheel are connected through the adhesion belt; the tensioning mechanism further comprises a mechanism connecting device arranged on the machine frame. A certain tangential displacement and a posture angle are outputted by a robot body, so that the adhesion, detachment and pressing of soles are realized and the walking and halting of a robot on a wall are assisted.

Description

technical field [0001] The invention relates to the field of bionic robots, in particular to a bionic crawler-type adhesion walking mechanism and a motion method thereof, which are mainly used in wall-climbing robots to realize the functions of adhesion, walking, staying and overcoming obstacles on walls with different inclination angles. Background technique [0002] Three-dimensional surface crawling robot has always been a research hotspot in the field of robotics. The use of wall-climbing robots can replace humans to perform tasks on steep walls, such as cleaning the exterior walls of skyscrapers, overhauling oil and gas tanks, and maintaining nuclear facilities. The study found that there are millions of micron-scale setae growing on the surface of the toes of the great gecko, and there are thousands of nano-scale fluff on the top of each seta. The van der Waals force (that is, intermolecular force) between these bristle arrays and the wall provides support for the gia...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/024
Inventor 吴晅刘彦伟胡重阳孙少明梅涛谢颖
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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