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Variable stiffness self-adaptive imitation gecko foot with active adhesion/detachment ability and method

A variable stiffness and self-adaptive technology, which is applied in the structural design of micro-miniature adhesive-footed robots and the field of variable-stiffness self-adaptive imitation gecko feet, can solve the problems of no active adhesion function and no research on spatial surface adaptability. Achieve the effect of light weight, ingenious structure and convenient processing

Active Publication Date: 2021-05-11
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] 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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  • Variable stiffness self-adaptive imitation gecko foot with active adhesion/detachment ability and method
  • Variable stiffness self-adaptive imitation gecko foot with active adhesion/detachment ability and method
  • Variable stiffness self-adaptive imitation gecko foot with active adhesion/detachment ability and method

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Embodiment Construction

[0021] Below in conjunction with accompanying drawing and specific embodiment the invention is described in further detail:

[0022] combine Figure 1-4 , the present embodiment is a variable stiffness self-adaptive imitation gecko sole and method with active adhesion / detachment capability, comprising: a wire steering gear 1, a wire steering gear upper fixing part 2, a wire steering gear lower fixing part 3, a wire steering gear Bottom fixing part a hole 3a, wire steering gear lower fixing part b hole 3b, wire steering gear lower fixing part c hole 3c, wire steering gear lower fixing part d hole 3d, rotating support frame 4, rotating supporting frame a hole 4a, Rotation support frame b hole 4b, rotation support frame c hole 4c, rotation support frame d hole 4d, rotation flange 5, rotation flange a hole 5a, rotation flange b hole 5b, rotation flange c hole 5c, rotation flange D hole 5d, ball head 6, ball joint cover 7, ball joint cover a hole 7a, ball joint cover b hole 7b, ba...

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Abstract

The purpose of the present invention is to provide a variable stiffness self-adaptive imitation gecko sole and method with active adhesion / detachment capability, belonging to the field of robot technology. The sole includes: wire steering gear (1), upper end fixing part of wire steering gear (2), lower fixing part of wire steering gear (3), rotating support frame (4), rotating flange (5), ball head (6) , a ball joint upper cover (7), a sole fixing piece (8), and N sole units with the same structure. Each sole unit includes a piece of sole piece, a piece of sole piece adhesive material, a sole axis element, a multi-joint movement telescopic rod, a return spring, and a sole piece deformation line. The invention can actively drive multiple soles to realize active adhesion and active detachment functions; the self-adaptive ball joint is constrained by a return spring, which not only ensures that the soles of the feet can be fitted with the surface of the space, but also realizes the return to the original state under no force Location.

Description

technical field [0001] The invention belongs to the technical field of robot application, and in particular relates to a variable stiffness self-adaptive imitation gecko foot sole with active adhesion / detachment capability and a method, which are mainly used in the structural design of miniature adhesion-footed robots. Background technique [0002] Special robot is one of the most important high technologies in the world today. It integrates computer, microelectronics, sensing, automatic control and other technologies. It has become one of the important symbols to measure a country's technological level and comprehensive national strength. The most challenging and ever-increasing fields. 3-dimensional space surface barrier-free moving robot (wall-climbing robot) is an important branch of special robots, which refers to a controllable mobile platform system that can move freely on smooth or rough positive, zero and negative surfaces. Drawing lessons from certain mechanisms o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/024
CPCB62D57/024
Inventor 俞志伟刘琦熊建宇杨先一吉爱红郭策王周义戴振东
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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