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Active adhesion and desorption variable-rigidity self-adaptive gecko-like leg, robot and method

A variable stiffness, self-adaptive technology, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problems of no active adhesion function, no research on space surface adaptability, etc., to achieve effective and delicate motion control, light weight, cleverly structured effects

Active Publication Date: 2020-07-17
JIANGSU POLICE INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] So far, similar adhesive robot feet only have a simple detachable cable transmission, do not have active adhesion function, and no research has been carried out on the space surface adaptability

Method used

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  • Active adhesion and desorption variable-rigidity self-adaptive gecko-like leg, robot and method
  • Active adhesion and desorption variable-rigidity self-adaptive gecko-like leg, robot and method
  • Active adhesion and desorption variable-rigidity self-adaptive gecko-like leg, robot and method

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Embodiment Construction

[0029] Below in conjunction with accompanying drawing and specific embodiment the present invention is further described:

[0030] combine Figure 1-10 , the present embodiment is an active adhesion-detachment variable stiffness self-adaptive imitation gecko leg and robot and method, including a left front leg A, a left middle leg B, a left rear leg C, a right front leg D, a right middle leg E, and a right rear leg Leg F, connecting plate G, connecting plate H, Z-axis first steering gear 1, Z-axis first steering gear double U-shaped connector 2, X-axis first steering gear 3, X-axis second steering gear 4. X-axis steering gear connection plate 5, X-axis steering gear connection plate 6, X-axis second steering gear U-shaped connector 7, fixed cap 8, leg support rod 9, bionic sole 10, wire steering gear 11. Upper fixing part 12 of the wire steering gear, lower fixing part 13 of the wire steering gear, a hole 13a of the lower fixing part of the wire steering gear, b hole 13b of t...

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Abstract

The invention relates to an active adhesion and desorption variable-rigidity self-adaptive gecko-like leg, a robot and a method, and belongs to the technical field of robot application. The variable-rigidity self-adaptive gecko-like leg is mainly characterized by comprising a bionic foot sole (10). The bionic foot sole (10) comprises a wire pulling steering engine (11), a wire pulling steering engine upper end fixing piece (12), a wire pulling steering engine lower end fixing piece (13), a rotary supporting frame (14), a rotary flange (15), a ball head (16), a ball joint upper cover (17) and afoot sole fixing piece (18), and also comprises N foot sole units uniformly arranged on a circle of the foot sole fixing piece (18) and having the same structure; wherein N is a natural number from 3to 9. The self-adaptive gecko-like leg and the robot have active adhesion and desorption movement functions, meet the self-adaptive requirement of the space surface, and can be applied to the structural design of a micro-miniature adhesion foot type robot.

Description

technical field [0001] The invention belongs to the technical field of robot application, and in particular relates to a variable stiffness self-adaptive gecko imitation leg with active adhesion and detachment, a robot and a method, which are mainly used in the structural design of miniature adhesion-footed robots. [0002] technical background [0003] Robot is one of the most important high technologies in the world today. It integrates computer, microelectronics, sensing, automatic control and other technologies, and has become one of the important symbols to measure a country's technological level and comprehensive national strength. Micro-adhesive robots are an important branch of robots. They are designed to solve some mechanical problems by referring to some mechanisms of organisms. In nature, geckos can walk freely on smooth walls, and even stick to the ceiling and crawl quickly. Taking the big gecko as the bionic object, it is expected to develop a bionic robot that ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 关琳刘琦杨先一
Owner JIANGSU POLICE INST
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