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Self-adaptive wall-climbing robot sole capable of achieving active adsorption/desorption through motor and torsional spring

A wall-climbing robot, self-adaptive technology, applied in the field of robotics, can solve the problems of not having active adhesion, etc., and achieve the effects of light weight, wide applicability, and convenient processing

Pending Publication Date: 2020-06-26
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the existing adhesive wall-climbing robots, most of the robot feet only have simple detachment cable transmission, and do not have active adhesion function.

Method used

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  • Self-adaptive wall-climbing robot sole capable of achieving active adsorption/desorption through motor and torsional spring
  • Self-adaptive wall-climbing robot sole capable of achieving active adsorption/desorption through motor and torsional spring
  • Self-adaptive wall-climbing robot sole capable of achieving active adsorption/desorption through motor and torsional spring

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Experimental program
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Embodiment Construction

[0043] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0044] combine Figure 1-2 , this embodiment is an adaptive wall-climbing robot foot that realizes active suction / desorption by a motor and a torsion spring, including a driving part, an active adhesion foot mechanism, an adaptive ball joint mechanism, and an active desorption pull wire mechanism.

[0045] Such as figure 1 As shown, the three-dimensional coordinate system is defined, the Z axis is the upward direction of the sole of the foot, the Y axis is the backward direction of the sole of the foot, and the X axis is the direction of the sole of the foot to the left.

[0046] The driving mechanism is fixed above the active adhesion sole mechanism. The driving part includes a wire-drawing motor 1, a motor frame 2, and an associated mounting screw 4. The motor frame 2 is U-shaped, the opening of the motor frame 2 is upward, and the output of ...

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Abstract

The invention discloses a self-adaptive wall-climbing robot sole capable of achieving active adsorption / desorption through a motor and a torsional spring. The robot sole is mainly applied to application of a micro adhesion type bionic wall-climbing robot, and belongs to the field of robot technology application. The robot sole comprises a driving part, an active adsorption sole structure part, a self-adaptive ball joint part and an active desorption stay wire mechanism part. The active adsorption and active desorption functions of toes are realized by skillfully utilizing the simple rotation of the motor and the torsion effect of the torsion spring; and reset springs are arranged at the ball joints, so that the sole has self-adaptability and self-resetting performance, and meanwhile, the robot has superiority.

Description

technical field [0001] The invention belongs to the application field of robot technology, and in particular relates to the foot of an adaptive wall-climbing robot whose active suction / desorption is realized by a motor and a torsion spring, and is mainly used in the application of a miniature adhesive bionic wall-climbing robot. Background technique [0002] With the rapid development of bionic robot technology, the research and development of bionic wall-climbing robots has attracted more and more attention from the public. In the existing bionic wall-climbing robots, most of the adsorption methods are negative pressure adsorption or magnetic adsorption, among which negative pressure adsorption needs to be equipped with a vacuum pump, and the noise is relatively large during operation, while magnetic adsorption generally requires additional power supply, regardless of Both negative pressure adsorption and magnetic adsorption have great limitations on the working environment...

Claims

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Application Information

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IPC IPC(8): B62D57/024
CPCB62D57/024
Inventor 李琳薛泽浩张铁
Owner SOUTH CHINA UNIV OF TECH