Bidirectional active controllable sticky-adhesion mechanism

Abstract

The application relates to a bidirectional active controllable sticky and detachable mechanism and relates to the technical field of robots. The bidirectional active controllable sticky and detachable mechanism comprises an outer support, a rudder support, a rudder, a cam, a pushing structure, a roller wheel, a rubber soft foot pad, a sticky material, a plastic conveying belt one and a plastic conveying belt two; the rudder is installed on the rudder support; the cam is concentrically installed with a rotating shaft of the rudder; the pushing structure is slidably arranged between the outer support and the rudder support; the roller wheel is installed on the bottom side of the pushing structure; fixed shafts are installed on the lower sides of the outer support and the rudder support; one end of the rubber soft foot pad is rotatably connected to the fixed shafts; the rubber soft foot pad is connected with the sticky material; one end of the plastic conveying belt one is connected with the sticky material; the other end of the plastic conveying belt one is connected with the pushing structure; one end of the plastic conveying belt two is connected with the rubber soft foot pad; and the other end of the plastic conveying belt two is fixed on a cam shaft. The bidirectional active controllable sticky and detachable mechanism can effectively solve the problem of unstable palm sticking of an existing foot type climbing robot on a vertical wall surface or a negative plane.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and particularly relates to a bidirectional active controllable adhesion and detachment mechanism. BACKGROUND

[0002] The end capture mechanism of a mechanical arm and the attachment end of a climbing robot leg need to be stably connected with an operating surface, and such connection is usually realized through vacuum, magnetic attraction and adhesion, etc. Among them, adhesion as a connection means that can be maintained for a long time without continuous power supply is gradually attracting attention in industrial production and robot research. Such adhesion is mainly generated by specific adhesion materials, such as dry adhesives similar to gecko setae (Gorb S, Varenberg M, Peressadko A, et al. Biomimetic mushroom-shaped fibrillar adhesive microstructure [J]. Journal of the Royal Society Interface, 2007, 4(13): 271.). By controlling the tangential force applied and released by the end to the surface, the adhesion between the end and the surface can be controlled.

[0003] However, in most cases, the attachment end can be clamped by gravity to ensure that the shear force between the dry adhesion material and the contact surface is generated to activate the adhesion, so as to be fixed on the contact surface or to grasp the object. However, when the shear force required by the clamp cannot coincide with the direction of gravity, or when the operation is performed in a microgravity environment (for example, capturing large space debris in low earth orbit), it is often difficult to maintain stable adhesion. In order to maintain the activated adhesion force in the absence of gravity, the end of the robot needs a shear force activation mechanism that works independently of the opening and closing mechanism of the fingers. Unlike the current research (patent 201610860988.8, active adhesion and detachment and attitude control force sensing space adaptive gecko robot), the method of activating adhesion by pressing downward with normal force and detaching by pulling the thread outward. Due to the different sizes and shapes of the grasped objects, the required shear force direction is also different, and the traditional gecko adhesive gripper can only grasp objects with limited size and shape (i.e. surface curvature).

[0004] Therefore, how to provide a bidirectional active controllable adhesion and detachment mechanism has become a technical problem that those skilled in the art urgently need to solve. SUMMARY

[0005] The main purpose of the present application is to provide a bidirectional active controllable adhesion and detachment mechanism to solve the above problems.

[0006] In order to achieve the above purpose, the application provides a bidirectional active controllable sticky and detachable mechanism, which comprises an outer bracket, a rudder bracket, a rudder, a cam, a pushing structure, a roller wheel, a rubber soft foot pad, a sticky material, a plastic conveyor belt one and a plastic conveyor belt two; wherein the outer bracket is connected with the rudder bracket; the rudder is installed on the rudder bracket, the cam is concentrically installed with the rudder shaft, the pushing structure is slidingly arranged between the outer bracket and the rudder bracket and located below the cam; the roller wheel is installed at both ends of the bottom side of the pushing structure; the outer bracket and the rudder bracket are both provided with a fixed shaft at the lower side, one end of the rubber soft foot pad is rotatably connected with the fixed shaft; the upper surface of the rubber soft foot pad is in close contact with the roller wheel, and the lower surface is connected with the sticky material; the sticky material close to one end of the fixed shaft is connected with one end of the plastic conveyor belt one through a plastic sheet, and the other end of the plastic conveyor belt one is connected with the pushing structure; the other end of the plastic conveyor belt two away from the fixed shaft is connected with the rubber soft foot pad, and the other end of the plastic conveyor belt two is fixed on the cam shaft of the cam.

[0007] Further, the sticky material is fixedly connected with one end of the plastic sheet, and the other end of the plastic sheet is fastened with the plastic conveyor belt one through a bolt.

[0008] Further, the outer bracket and the rudder bracket have the same outer size and are buckled and installed.

[0009] Further, the outer bracket and the rudder bracket are both provided with a vertical slot and a horizontal slot; the pushing structure comprises a cam push plate, a connecting rod, a spring and a roller; the outer bracket is provided with a square array slot on the side close to the rudder bracket, the bottom end of the spring is inserted into the square array slot, the top end supports the cam push plate, the cam push plate can slide up and down along the vertical slot, and the cam push plate is connected with one end of the connecting rod, the other end of the connecting rod is connected with the roller, the roller is inserted into the horizontal slot and can slide left and right along the horizontal slot, and the roller wheel is concentrically and rotatably installed on the roller.

[0010] Further, the rudder bracket is provided with a bracket cross bar on the side close to the outer bracket; one end of the plastic conveyor belt one away from the plastic sheet is fixed on the cam push plate by passing around the bracket cross bar.

[0011] The application has the following beneficial effects:

[0012] The adhesion material is connected with one end of the plastic conveying belt one through the plastic sheet, and the other end of the plastic conveying belt one is connected with the pushing structure; the other end of the plastic conveying belt two away from the fixed shaft is connected with the rubber soft foot pad, and the other end of the plastic conveying belt two is fixed on the cam shaft of the cam; the steering wheel rotates counterclockwise, the plastic conveying belt one is pulled tight, the adhesion material is subjected to the tangential force inward, due to the isotropic property, the normal adhesion effect is enhanced, so that the ability of the sole mechanism adhesion plane is increased; the steering wheel rotates clockwise, the tangential force of the plastic conveying belt one to the adhesion material disappears, the plastic conveying belt two is pulled tight along with the rotation of the cam, and then the sole composed of the adhesion material and the rubber soft foot pad is turned from the outside, the adhesion force of the adhesion contact surface is significantly reduced, and the whole mechanism is smoothly detached; the whole adhesion and detachment process can be realized through the single degree of freedom steering wheel driving, so that the problem of unstable adhesion of the existing foot type climbing robot on the vertical wall surface or negative plane (ceiling) is effectively solved. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is a schematic diagram of the three-dimensional structure of the present application;

[0014] Figure 2 It is a schematic diagram of the internal structure of the present application;

[0015] Figure 3 It is a schematic diagram of the structure of the outside support of the present application;

[0016] Figure 4 It is a schematic diagram of the structure of the steering wheel side support of the present application;

[0017] Figure 5 It is a schematic diagram of the structure of the rubber soft foot pad of the present application;

[0018] Figure 6 It is a schematic diagram of the structure of the adhesion material of the present application.

[0019] In the figure: 1 - outside support, 2 - steering wheel side support, 3 - steering wheel, 4 - cam, 5 - cam push plate, 6 - spring, 7 - connecting rod, 8 - roller, 9 - roller wheel, 10 - rubber soft foot pad, 11 - adhesion material, 12 - plastic sheet, 13 - plastic conveying belt one, 14 - plastic conveying belt two, 15 - fixed shaft, 16 - vertical slot, 17 - horizontal slot, 18 - square array slot, 19 - support crossbar. DETAILED DESCRIPTION

[0020] In order to achieve the above purpose and effect, the technical means and structure adopted by the present application are described in detail in combination with the preferred embodiments of the present application, and the characteristics and functions are described.

[0021] As Figures 1-6As shown, the bidirectional active controllable sticky and detachable mechanism provided in the application comprises an outer support 1, a rudder support 2, a rudder 3, a cam 4, a pushing structure, a roller wheel 9, a rubber soft foot pad 10, a sticky material 11, a plastic conveyor belt 1 3 and a plastic conveyor belt 2 14. The outer support 1 is connected with the rudder support 2. The rudder 3 is installed on the rudder support 2. The cam 4 is concentrically installed with the rotating shaft of the rudder 3. The pushing structure is slidingly arranged between the outer support 1 and the rudder support 2 and below the cam 4. The roller wheel 9 is installed at both ends of the bottom side of the pushing structure. The outer support 1 and the rudder support 2 are both provided with a fixed shaft 15 at the lower side. One end of the rubber soft foot pad 10 is rotatably connected with the fixed shaft 15. The upper surface of the rubber soft foot pad 10 is in close contact with the roller wheel 9, and the lower surface is connected with the sticky material 11. One end of the sticky material 11 close to the fixed shaft 15 is fixedly connected with one end of a plastic sheet 12. The other end of the plastic sheet 12 is fixedly connected with one end of the plastic conveyor belt 1 3 through a bolt. The other end of the plastic conveyor belt 1 3 is connected with the pushing structure. The other end of the plastic conveyor belt 2 14 away from the fixed shaft 15 is connected with the rubber soft foot pad 10. The other end of the plastic conveyor belt 2 14 is fixedly connected with the cam shaft of the cam 4. The plastic sheet 12 is made of PVC plastic sheet 12. The rubber soft foot pad 10 is nested on the fixed shaft 15 below the support, can rotate around the fixed shaft 15, and the upper surface of the rubber soft foot pad 10 is in close contact with the roller wheel 9 in a tangent relationship.

[0022] In the embodiment, the outer support 1 and the rudder support 2 have the same size, are buckled and installed, and form the overall support of the mechanism. The rudder 3 is positioned through the circular groove of the rudder support 2. The cam 4 is concentrically installed with the rotating shaft of the rudder 3 and is driven to rotate by the rudder 3.

[0023] The outer support 1 and the rudder support 2 are both provided with a vertical slot 16 and a horizontal slot 17. The pushing structure comprises a cam push plate 5, a connecting rod 7, a spring 6 and a roller 8. The outer support 1 is provided with a square array groove 18 on the side close to the rudder support 2. The spring 6 is provided with four ends. The bottom ends of the four springs 6 are inserted into the square array groove 18, and the top ends support the cam push plate 5. The circular shaft of the cam push plate 5 is inserted into the vertical slot 16, so that the cam push plate 5 can slide up and down along the vertical slot 16. One end of the cam push plate 5 is connected with the connecting rod 7, and the other end of the connecting rod 7 is connected with the roller 8. The roller 8 is inserted into the horizontal slot 17 and can slide left and right along the horizontal slot 17. The roller 8 is concentrically and rotatably installed with the roller wheel 9. The rudder support 2 is provided with a support cross bar 19 on the side close to the outer support 1. One end of the plastic conveyor belt 1 3 away from the plastic sheet 12 is fixedly connected with the cam push plate 5 through the support cross bar 19.

[0024] The large end of the connecting rod 7 is concentric with the circular shaft of the cam push plate 5 and can rotate relative to it, the small end of the connecting rod 7 is connected to the roller 8, and the roller 8 is inserted into the horizontal slot 17. The roller 8 can slide left and right along the horizontal slot 17. The roller wheel 9 is sleeved outside the roller 8 and can rotate relative to the roller 8.

[0025] The circular hole of the rubber soft foot pad 10 is connected to the fixed shaft 15 for installation and can rotate relative to the fixed shaft 15, and the rubber soft foot pad 10 is always in tangential contact with the roller wheel 9 during operation. The adhesive material 11 is pasted between the rubber soft foot pad 10 with double-sided adhesive to ensure the relative position is fixed. The side of the adhesive material 11 close to the middle is pasted with the plastic sheet 12 to ensure the relative position is fixed, and the plastic sheet 12 is directly connected with the plastic conveying belt one 13 with screws to ensure the relative position; the plastic conveying belt one 13 passes through the gap between the support crossbars 19, goes around the support crossbars 19, and is fixed with the cam push plate 5, the rubber soft foot pad 10 is fixed with one end of the plastic conveying belt two 14, and the other end of the plastic conveying belt two 14 is fixed with the cam shaft of the cam 4.

[0026] In the initial state, the cam push plate 5 is located at the upper limit under the action of the elastic force of the spring 6, the cam 4 is biased to one side, the plastic conveying belt two 14 is pulled, and the outer edge of the rubber soft foot pad 10 is pulled up.

[0027] When the mechanism approaches the adhered surface, the adhesive material 11 contacts the surface, the rudder 3 starts to rotate counterclockwise, as the rudder 3 rotates, the cam 4 pushes the cam push plate 5 to move downward, driving the connecting rod 7 to push the roller 8 to move to both sides, the roller wheel 9 pushes and presses the rubber soft foot pad 10 to compact the adhered surface, when the cam push plate 5 is pushed to the lowest point, the rudder 3 stops rotating, at this time the plastic conveying belt one 13 is pulled tight, the adhesive material 11 is subjected to an inward tangential force, due to its isotropic nature, the normal adhesion effect is enhanced, thereby increasing the ability of the foot palm mechanism to adhere to the plane.

[0028] In the detachment state, the rudder 3 drives the cam 4 to rotate clockwise, the cam push plate 5 is lifted up under the pressure of the spring 6, driving the connecting rod 7 and the roller 8 to move, at the same time, the tangential force of the plastic conveying belt one 13 on the adhesive material 11 disappears, the plastic conveying belt two 14 is pulled tight as the cam 4 rotates, and then the foot palm composed of the adhesive material 11 and the rubber soft foot pad 10 is turned over from the outside, the adhesion of the adhesive contact surface is significantly reduced, and the whole mechanism is successfully detached.

[0029] The present application is connected with one end of the plastic conveyor belt I through the plastic sheet, and the other end of the plastic conveyor belt I is connected with the pushing structure; the other end of the plastic conveyor belt II away from the fixed shaft is connected with the rubber soft foot pad, and the other end of the plastic conveyor belt II is fixed on the cam shaft of the cam; the steering wheel rotates counterclockwise, the plastic conveyor belt I is pulled tight, the adhesive material is subjected to the tangential force to the inside, and due to the isotropic property, the normal adhesion effect is enhanced, so as to increase the ability of the foot palm mechanism adhesion plane; the steering wheel rotates clockwise, the tangential force of the plastic conveyor belt I to the adhesive material disappears, the plastic conveyor belt II is pulled tight along with the rotation of the cam, and then the foot palm composed of the adhesive material and the rubber soft foot pad is turned over from the outside, the adhesion of the adhesive contact surface is significantly reduced, and the whole mechanism is smoothly detached; the whole adhesive and detached process can be realized through the single degree of freedom steering wheel driving, so as to effectively solve the problem of unstable foot palm adhesion of the existing foot type climbing robot on the vertical wall surface or negative plane (ceiling).

[0030] The above is only the preferred embodiment of the present application, and does not limit the technical scope of the present application, so any slight modification, equivalent change and modification of the above embodiment according to the technical essence of the present application are still within the scope of the technical solution of the present application.

Claims

1. A bidirectional active controllable sticky-decohesive mechanism, characterized in that, The utility model relates to a kind of rudder mechanism, including: Outer side support, rudder mechanism side support, rudder mechanism, cam, push structure, roller wheel, rubber soft foot pad, adhesive material, plastic conveyor belt one and plastic conveyor belt two;Wherein, the outer side support is connected with rudder mechanism side support;The rudder mechanism is installed on the rudder mechanism side support, the cam is concentrically installed with rudder mechanism rotating shaft, the push structure is slidably arranged between the outer side support and the rudder mechanism side support, and is located below the cam;The bottom side of the push structure is equipped with the roller wheel at both ends;The outer side support and the rudder mechanism side support are equipped with fixed shaft at the lower side, one end of the rubber soft foot pad is rotatably connected on the fixed shaft;The upper surface of the rubber soft foot pad is closely attached to the roller wheel, and the lower surface is connected with the adhesive material;The adhesive material close to the end of fixed shaft is connected with one end of plastic conveyor belt one through plastic sheet, and the other end of plastic conveyor belt one is connected with the push structure;The other end of plastic conveyor belt two is connected with the rubber soft foot pad away from the fixed shaft, and the other end of plastic conveyor belt two is fixed on the camshaft of the cam; The outer side support and the rudder mechanism side support are both provided with vertical slot and horizontal slot;The push structure includes cam push plate, connecting rod, spring and roller;The side of the outer side support close to the rudder mechanism side support is provided with square array slot, the bottom end of the spring is inserted into the square array slot, and the top end supports the cam push plate, the cam push plate can slide up and down along the vertical slot, and the cam push plate is connected with one end of the connecting rod, the other end of the connecting rod is connected with the roller, and the roller is inserted into the horizontal slot and can slide left and right along the horizontal slot, and the roller wheel is concentrically rotatably installed on the roller; The rudder mechanism rotates counterclockwise, and the plastic conveyor belt one is pulled tight, and the adhesive material is subjected to inward tangential force;The rudder mechanism rotates clockwise, and the tangential force of the plastic conveyor belt one to the adhesive material disappears, and the plastic conveyor belt two is pulled tight along with the rotation of the cam.

2. A bidirectional active controllable sticky-decohesive mechanism according to claim 1, wherein, The adhesive material is fixedly connected with one end of the plastic sheet, and the other end of the plastic sheet is fastened with the plastic conveyor belt one by bolt.

3. A bidirectional active controllable sticky-decohesive mechanism according to claim 1, wherein, The outer side support and the rudder mechanism side support have the same size, and are buckled and installed.

4. A bidirectional actively controllable sticky-decohesive mechanism according to claim 1 or 3, wherein, The rudder mechanism side support is installed with support cross bar close to the side of the outer side support;The end of the plastic conveyor belt one away from the plastic sheet is fixed on the cam push plate by passing around the support cross bar.

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