A Force and Angle Controllable Gripper Based on Pneumatic Artificial Muscle

Abstract

The invention relates to a grabbing hook claw of a high-altitude rise building rough surface climbing robot, in particular to a variable-rigidity hook claw with controllable angle for stably and effectively grabbing a high-altitude building wall surface, and belongs to the field of intelligent bionic robots. A hook claw with controllable force and angle based on pneumatic artificial muscle is characterized in that a pneumatic spring assembly is arranged in a guide disc; the hook claw is embedded into the guide disc, and a suspension frame is arranged at the upper end of the hook claw; the pneumatic spring assembly is arranged between the hook claw and the suspension frame; a coupling disc is mutually covered with the guide disc; the movement of the hook claw and the suspension frame is controlled by the opening and closing of the pneumatic spring assembly. The hook claw with controllable force and angle based on the pneumatic artificial muscle has the advantages that the angle grabbing is realized, and the grabbing property is stable; the gases with different pressures are sent into each mechanism, so as to control the grabbing force and grabbing angle of the hook claw.

Description

technical field [0001] The present invention relates to the grabbing claws of a climbing robot on rough surfaces of high-altitude buildings (such as rough concrete walls, cliff walls, and water-brushed stone walls), in particular to a controllable angle capable of stably and effectively grasping the walls of high-altitude buildings. The variable stiffness 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...

AI Technical Summary

Problems solved by technology

[0006] 2. The whole mechanism has only one driving mechanism, which cannot realize the precise control of the grasping action and grasping force of each hook point, which is not good for the grasping stability

[0007] 3. The structure is too complicated, there are too many parts, it is difficult to manufacture and assemble, and the gripping force is small

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