A bionic wall-climbing robot with self-adaptive wall roughness combined with rigidity and softness combined with wet suction feet
What is Al technical title?
Al technical title is built by PatSnap Al team. It summarizes the technical point description of the patent document.
A wall roughness and wall-climbing robot technology, applied in the field of bionics, can solve problems such as difficult generalization and complex control methods, and achieve the effects of simple control, easy implementation, and convenient personalized design.
Active Publication Date: 2021-06-08
TONGJI UNIV
View PDF8 Cites 0 Cited by
Summary
Abstract
Description
Claims
Application Information
AI Technical Summary
This helps you quickly interpret patents by identifying the three key elements:
Problems solved by technology
Method used
Benefits of technology
Problems solved by technology
Due to the limitations of each of these methods, the developed wall-climbing robots are often highly targeted, only suitable for a specific task, and difficult to generalize
[0005] The design of the robot needs to select the appropriate claw or adsorption method according to the work task and environment, and the control method is complicated
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more
Image
Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
Click on the blue label to locate the original text in one second.
Reading with bidirectional positioning of images and text.
Smart Image
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0042] The present invention will be further described below in conjunction with the embodiments shown in the accompanying drawings.
[0043] The invention provides a bionic wall-climbing robot with self-adaptive wall roughness, rigid and soft combined with wet suction feet.
[0044] Such as figure 1 and 2 Shown, tendon 8 is main power transmission mechanism of the present invention: figure 1 The lateral movement tendon branch 81 and the downward movement tendon branch 82 are respectively connected to the claw bottom multidirectional elliptical flexible hinge 5 through the claw bottom lateral movement threading hole 6 and the claw bottom downward movement threading hole 7; Through the tendon perforation 4 on the claw base 2, it is connected with the liquid storage chamber 14, the pawl sheet 12 and the vertical handle 10.
[0045] Such as figure 1 and 2 As shown, the foot pad part base 9 and the claw base 2 are connected at the bonding point 3 .
[0046] Such as figure 1...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more
PUM
Login to view more
Abstract
The invention belongs to the field of bionics, and provides a bionic wall-climbing robot with self-adaptive wall surface roughness, which is rigid and soft combined with wet-absorbing feet, comprising tendons, lateral movement tendon branches, downward movement tendon branches, two claws, and a claw base. , foot frame, foot pad, liquid storage cavity, claw piece, vertical handle, elliptical flexible hinge; under the stretching of tendons, the two claws can hook the rough wall surface to crawl upward mechanical force; tendon stretching foot pad adsorption The wall surface with small roughness provides motion friction; tendon stretching means that the liquid in the liquid cavity is compressed into the foot pad, so that the folds on the surface of the foot pad expand and increase the contact area; the liquid is discharged to the contact surface along the micropores on the surface of the foot pad, Increase adsorption. When the tendons relax, the claws return to their original shape under the action of the flexible joints at the bottom, the liquid returns to the chamber, and the foot pads are separated from the wall surface to achieve rapid desorption. In this way, under the control of a tendon, it can automatically adapt to the wall environment of different roughness, quickly realize adsorption and desorption, and meet the motion requirements of the bionic wall-climbing robot.
Description
technical field [0001] The invention belongs to the field of bionics, and in particular relates to a bionic wall-climbing robot with self-adaptive wall roughness combining rigidity and softness with wet suction feet. [0002] technical background [0003] Wall-climbing robot is an important branch in the field of mobile robots. It can climb on vertical walls and carry tools to complete certain tasks, which greatly expands the application range of robots. At present, wall-climbing robots have been applied in cleaning the outer walls of high-rise buildings, emergency rescue and disaster relief, and special reconnaissance, and have achieved good social and economic benefits. It is one of the hotspots in the field of robotics. [0004] Stable contact with the wall is one of the basic functions of the wall-climbing robot, which can be achieved by grasping the wall or adsorption. Adsorption methods mainly include vacuum negative pressure adsorption and magnetic adsorption. The cl...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more
Application Information
Patent Timeline
Application Date:The date an application was filed.
Publication Date:The date a patent or application was officially published.
First Publication Date:The earliest publication date of a patent with the same application number.
Issue Date:Publication date of the patent grant document.
PCT Entry Date:The Entry date of PCT National Phase.
Estimated Expiry Date:The statutory expiry date of a patent right according to the Patent Law, and it is the longest term of protection that the patent right can achieve without the termination of the patent right due to other reasons(Term extension factor has been taken into account ).
Invalid Date:Actual expiry date is based on effective date or publication date of legal transaction data of invalid patent.
Login to view more 
Login to view more