Variable-rigidity biomimetic falcula mechanism and falcula components thereof

Abstract

The invention discloses a variable-rigidity biomimetic falcula mechanism and falcula components thereof. The falcula components comprise a falcula mounting head and a falcula in elastic connection with the falcula mounting head, wherein the falcula comprises a micro claw connecting head and more than one micro claw unit; a claw tip is arranged on each micro claw unit; all the micro claw units are sequentially connected in series in a threadlike manner, a limiting post is arranged on the outer side end surface of the micro claw units at the end part, and every two adjacent micro claw units, as well as the micro claw units and the adjacent end surfaces of the micro claw connecting head, are in elastic connection; the rigidity of elastic connection between all composition components of the falcula is smaller than that of elastic connection between the falcula and the falcula mounting head; a movable connecting head is also arranged between every two adjacent micro claw units. Therefore, owing to the variable-rigidity characteristic of the falcula components, the grabbing stability of a climbing robot can be greatly improved, a bigger grabbing force can be provided, and the falcula components can adapt to more complicated work environments and has a wider application range.

Description

technical field [0001] The present invention relates to the grasping claws of climbing robots on rough surfaces of high-altitude buildings (such as rough concrete walls, cliff walls, and water-brushed stone walls), in particular to a variable stiffness that can stably and effectively grasp the walls of high-altitude buildings The claw belongs to the field of intelligent bionic robots. Background technique [0002] At present, climbing robots have been widely used in the detection of smooth walls, but for high-altitude walls that are made of rough concrete, square bricks and rocks, there is a lot of dust, and there is a small low-frequency vibration, there is no good adsorption method yet. In recent years, domestic high-altitude building accidents have been frequent, such as the collapse of the Fenghuang Bridge in Hunan in 2007, the collapse of the Changzhou Highway Bridge in 2007, the rupture of the Yangmingtan Bridge in Harbin in 2012, the collapse of the Yichang Bridge in ...

AI Technical Summary

Problems solved by technology

[0007] 1. The rigidity of the elastic connector 103' is very small, and the grasping force is mainly provided by the rigid limiter. Since the optimal grasping positions of several claws in a grasping unit are different, the elastic connector 103 of each claw 'The amount of elongation is different. The claw tips of individual claws are already at the limit displacement, while the claw tips of some claws have not reached the limit position, which leads to uneven grasping force provided by multiple claws in the grabbing unit. , some claws have a large grasping force, and some claws have a small effect, and even cause only one or two claws in a grasping unit to work, and the grasping force provided by a single grasping unit is small ;

[0008] 2. The force between the claw tip and the concave-convex feature of the wall is relatively complex. The disturbance of external environmental factors and the uncertainty of the microstructure strength of the wall itself will cause the claw tip to separate from the wall. It is difficult to establish a secondary grasp, resulting in a decrease in the stability of the grasping action, and it is easy to cause a safety accident in which the robot falls from the wall;

[0009] 3. The rigidity adjustment range is small and inconvenient to adjust, which restricts the scope of application of the climbing robot

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