Flexible adhering mechanism with profile-followed capability

A flexible adhesion and capability technology, applied in the field of robotics, can solve problems such as poor conformal adhesion, and achieve the effects of low cost, low quality and stable work.

Active Publication Date: 2018-08-24
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, attachment mechanisms based on claws, such as Stanford University's SpinybotII robot and BostonDyn

Method used

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  • Flexible adhering mechanism with profile-followed capability
  • Flexible adhering mechanism with profile-followed capability
  • Flexible adhering mechanism with profile-followed capability

Examples

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[0020] The specific structure, working principle and working process of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0021] Such as figure 1 with figure 2 As shown, a flexible attachment mechanism with conformal capability includes a control unit I, a line drive unit and its auxiliary structure II, and an attachment bionic mechanism unit III. The control unit I uses a single-chip microcomputer and a number of switches to control the line drive unit and Its auxiliary mechanism II finally controls the attached bionic mechanism unit III to realize the function; the single-chip microcomputer determines whether the mechanism is working by dynamically scanning the state of the switch, and respectively controls the push-pull electromagnet 32 ​​and the motor 28 connected with the slot wheel 25; the push-pull electromagnet 32 The opening and closing of and the rotation of the motor 28 directly change th...

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Abstract

The invention relates to a flexible adhering mechanism with a profile-followed capability. The flexible adhering mechanism comprises a control unit, a linear driving unit and an auxiliary structure thereof, and an adhering bionic mechanism unit, a single-chip microcomputer and several switches are adopted by the control unit to control the linear driving unit and the auxiliary structure thereof, and finally, the adhering bionic mechanism unit is controlled to achieve the function; the single-chip microcomputer judges whether the mechanism works or not by dynamically scanning the state of the switches, and a push-and-pull electromagnet and a motor connected to a sheave are controlled separately; closing and opening of the push-and-pull electromagnet and the rotation of the motor all directly change the state of a steel wire rope connected with the push-and-pull electromagnet and the motor, and the adhering bionic mechanism unit is driven to conduct the corresponding motion. The flexibleadhering mechanism has the advantages of being high in working stability, large in working adhesive force, and capable of adapting to a certain terrain environment. Meanwhile, the mechanism can alsoserve as an open platform, corresponding improvement is made, and a robot tail end executor can be added to enrich the functions of the flexible adhering mechanism.

Description

technical field [0001] The invention relates to a flexible attachment mechanism with shape-following capability, which belongs to the field of robots. Background technique [0002] As one of the greatest inventions of mankind in the 20th century, robot technology is widely used in various fields of society. Due to the working limitations of traditional robots, special robots for various purposes have come out one after another, and are moving towards practical application at a rapid speed. Nature has always been an inexhaustible and inexhaustible source of inspiration for human inventors and engineers. Researchers have developed a variety of bionic robots based on biological structures such as elephant trunks, octopus tentacles, and snakes, such as Festo's elephant-like trunk flexible robotic arm, OC Robotics' snake-like robot, and Vanderbilt University's multi-spine snake-like robot. Wait. At present, attachment mechanisms based on claws, such as Stanford University's Sp...

Claims

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Application Information

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IPC IPC(8): B62D57/024
CPCB62D57/024
Inventor 李龙田应仲金滔
Owner SHANGHAI UNIV
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