Bionic flexible claw thorn array foot with adjustable and controllable adhesion state

Abstract

The invention discloses a bionic flexible claw thorn array foot with an adjustable and controllable adhesion state. The bionic flexible claw thorn array foot with the adjustable and controllable adhesion state comprises a claw thorn foot base, a claw thorn unit structure is connected to the claw thorn foot base, the claw thorn unit structure comprises tangential piston rods, normal piston rods andclaw thorn seats, two tangential and normal freedom of motion are provided, and each group of claw thorn units can be distributed on the claw thorn foot base in unidirectional array, straight opposite-grabbing and peripheral opposite-grabbing modes. Claw thorns are fixed to the claw thorn seats, the tangential piston rods are matched with tangential piston holes in the claw thorn foot base, the normal piston rods are matched with normal piston holes in the claw thorn foot base, all the tangential piston rods correspondingly and mutually communicate with the normal piston holes, and the adaptability and grabbing attached probability of a claw thorn array to complex wall surface morphologies are improved by controlling the tangential and normal displacement of the claw thorn array by hydraulic pressure or air pressure cooperating with constant pressure; and meanwhile, grabbing attached force is uniformly distributed on the claw thorn array, the grabbing soundness and the adaptability tothe wall surface morphologies are improved, and the bionic flexible claw thorn array foot with the adjustable and controllable adhesion state can adapt to a more complex work environment.

Description

technical field [0001] The invention belongs to the technical field of engineering bionics, mechanical design, manufacture and automation, and relates to a bionic pliable claw spine array foot with adjustable adhesion state. Background technique [0002] Many creatures in nature are born with the ability to fly over walls. For example, beetles, lizards, cats and other creatures have sharp claw structures on their feet. Into soft surfaces, use static friction or force generated by penetration to achieve steep wall attachment. Based on this, it is possible to design an adjustable bionic pliable claw spine array foot to realize isobaric active regulation, so that more claws per unit area can grasp the wall, and can achieve isobaric load while improving the grasping force. Avoid the uneven force of the claws and the breakage. [0003] There are many bionic claw foot structures researched and designed at home and abroad, some of which can also achieve active regulation, but usu...

AI Technical Summary

Problems solved by technology

[0005] Chinese patent (name: a bionic flexible claw foot structure, application number: 201810319804.6, application date: 2018-04-11, publication number: CN108357582A, publication date: 2018-08-03) discloses a bionic flexible claw The foot structure is set by nylon wires bypassing the pulleys of each mounting plate and the pulleys of each foot, so that the load force on each foot is evenly distributed, so that each foot is evenly stressed, but only each foot unit can be evenly stressed , the claws between the sub-units cannot be adjusted independently, and actively adapt to the topography of the wall

[0006] Chinese patent (name: an active claw foot for wall-climbing robots, application number: 201810762171.6, application date: 2018-07-12, publication number: CN108749944A, publication date: 2018-11-06) discloses a An active claw foot for a wall-climbing robot, using a shape memory alloy to drive the active desorption and telescopic functions of the claw. Afterwards, the force on the claws is uneven, and some claws with greater force are prone to breakage when the grasping force of the feet is increased.

[0007] The soft and spiny climbing robot palm developed by the Department of Mechanical Engineering of Stanford University for large climbing robots can actively adapt to the wall topography in the normal direction of the palm by adjusting the air pressure (Wilson Ruotolo, Frances S. Roig, Mark R .Cutkosky.Load-Sharing in Soft and Spiny Paws for a Large Climbing Robot.IEEE Robotics and Automation Letters,2019,4(2):1439-1446.), but cannot actively adjust the displacement between the tangential claws, and cannot realize each Two claws have the same load, because the force of the claws is different, as the grasping force increases, some claws may be damaged and fall off

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