A liana-like bionic self-growing hand

Abstract

This invention relates to the field of climbing attachment claw technology, specifically to a vine-like biomimetic self-growing claw, comprising a first gripping part and a second gripping part arranged in opposition, a shell, and a drive motor, a first spiral shell, a first winding shaft, a first torsion spring, a first double-layer gear, an incomplete gear, a first energy storage gear, a second spiral shell, a second winding shaft, a second torsion spring, a second double-layer gear, and a second energy storage gear disposed therein. The first gripping part and the second gripping part are both elastic coil springs, each wound around the first winding shaft and the second winding shaft, which are respectively fixed to the center inside the first spiral shell and the second spiral shell. This invention has a simple structure and a relatively small size, making it easy to carry and install, and can easily achieve variable diameter movement with good adaptability.

Description

Technical Field

[0001] This invention relates to the field of climbing attachment claw technology, specifically to a vine-like biomimetic self-growing claw. Background Technology

[0002] In recent years, climbing operations have become increasingly demanding, requiring work in industries such as construction, fire protection, and petrochemicals. Furthermore, the development of modern cities has led to a surge in high-rise buildings. Relying solely on manual labor for the outdoor cleaning and maintenance of these buildings is inefficient, and the risk of injury or death due to carelessness is high. High-rise buildings themselves also present numerous safety hazards, posing significant challenges to traditional manual operations. Therefore, the application prospects of climbing robots have garnered widespread attention.

[0003] However, most of the attachment grippers used in climbing robots today are rigid structures, which are large and heavy, making the overall mechanism cumbersome. The gripper's grasping size cannot be adaptive, and it cannot perform variable diameter movements flexibly and quickly. The few emerging pneumatic grippers have more complex structures and have higher requirements for air source and device sealing. At present, conventional rigid grippers and pneumatic grippers have small volume changes and slow operating speed when grasping objects, which limits their application in quickly grasping objects in confined spaces. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is that most of the existing attachment grippers of cooperative climbing robots are rigid structures, the overall mechanism is relatively bulky, the gripper's grasping scale cannot be adaptive, and it is not possible to achieve variable diameter movement in a flexible and rapid manner; while the structure of the emerging pneumatic gripper is relatively complex, and it has high requirements for the air source and the sealing of the device; and both types of grippers have small volume changes and slow running speed when grasping objects, which limits their application in quickly grasping objects in confined spaces.

[0005] To address the aforementioned technical problems, this invention provides a vine-like biomimetic self-growing gripper, comprising a first gripping part and a second gripping part arranged in opposition, a housing, and a drive motor, a first spiral shell, a first winding shaft, a first torsion spring, a first double-layer gear, an incomplete gear, a first energy storage gear, a second spiral shell, a second winding shaft, a second torsion spring, a second double-layer gear, and a second energy storage gear disposed therein. Both the first gripping part and the second gripping part are elastic coil springs, each wound around the first winding shaft and the second winding shaft. The first winding shaft and the second winding shaft are each fixed to the center of the interior of the first spiral shell and the second spiral shell, respectively. The first torsion spring and the second torsion spring are respectively fixed to the first winding shaft and the second winding shaft. Inside the shaft, the drive motor is fixed to the outer wall of the first spiral shell. The rotation shaft of the drive motor is fixed to the center of the incomplete gear. The first double-layer gear includes a first transition large gear and a first transition small gear, which are coaxially rotatably connected to the first spiral shell. The first energy storage gear is fixed to one end of the first winding shaft. The incomplete gear and the first transition large gear can mesh. The first transition small gear meshes with the first energy storage gear. The second double-layer gear includes a second transition large gear and a second transition small gear, which are coaxially rotatably connected to the second spiral shell. The second energy storage gear is fixed to one end of the second winding shaft. The second transition small gear meshes with the second energy storage gear. The first transition large gear and the second transition large gear mesh with each other.

[0006] Preferably, one end face of the housing is provided with a mounting hole.

[0007] Preferably, a roller is rotatably connected to the end of both the first gripping part and the second gripping part that extends out of the spiral shell.

[0008] Preferably, the outer spiral portion of the first spiral shell and the outer spiral portion of the second spiral shell are each provided with a plurality of smooth pins.

[0009] The technical solution of this invention has the following advantages:

[0010] This invention provides a vine-like biomimetic self-growing claw, comprising two opposing coiled spring claws, a drive assembly, a drive motor, and a housing. The housing encloses the drive assembly and drive motor. The drive motor rotates unidirectionally, causing the drive assembly to operate, thereby causing the two coiled spring claws to extend or shorten simultaneously, thus releasing or encircling cylindrical objects. The drive assembly of this invention has fewer components and only one drive motor, resulting in a simple structure and compact size, overcoming the disadvantages of rigid claws being bulky, heavy, and cumbersome.

[0011] This invention has a simple structure and does not use an air source as a power source, thus overcoming the disadvantages of pneumatic grippers, which have relatively complex structures and high requirements for air source and device sealing.

[0012] The first gripping part and the second gripping part of the present invention are both made of elastic coil springs. Since the coil spring claw is a flexible claw, it has self-growing characteristics and rapid gripping ability. It can adapt to the elongation according to the diameter of the cylindrical object being gripped, so it can easily achieve variable pipe diameter movement and has good adaptability. Attached Figure Description

[0013] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of a vine-like biomimetic self-growing claw provided in an embodiment of the present invention;

[0015] Figure 2 This is a first-view schematic diagram of a vine-like biomimetic self-growing claw with its outer shell removed, provided in an embodiment of the present invention.

[0016] Figure 3 This is a second-view schematic diagram of a vine-like biomimetic self-growing claw with its outer shell removed, provided in an embodiment of the present invention.

[0017] Figure 4 This is a third-view schematic diagram of a vine-like biomimetic self-growing claw with its outer shell removed, provided in an embodiment of the present invention.

[0018] Figure 5 This is a perspective view of the spiral outer shell provided in an embodiment of the present invention;

[0019] Figure 6 This is a schematic diagram illustrating the changes in the gripper of the present invention during pipe diameter movement;

[0020] Figure 7 This is a schematic diagram showing the extension of the gripper of the present invention when grasping a cylindrical object;

[0021] Figure 8 This is a schematic diagram of the energy storage and contraction of the gripper of the present invention, followed by energy release and elongation.

[0022] Figure 9 This is a schematic diagram of the first transition large gear and the first transition small gear of the present invention being sleeved on the first through shaft;

[0023] Figure 10This is a schematic diagram of the second transition large gear and the second transition small gear of the present invention being sleeved on the second through shaft.

[0024] Explanation of reference numerals in the attached drawings: 1. First gripping part; 2. Second gripping part; 3. Outer shell; 31. Mounting hole; 4. Drive motor; 5. First spiral shell; 6. First winding shaft; 7. First torsion spring; 8. First double-layer gear; 81. First transition large gear; 82. First transition small gear; 9. Incomplete gear; 10. First energy storage gear; 11. Second spiral shell; 12. Second winding shaft; 13. Second torsion spring; 14. Second double-layer gear; 141. Second transition large gear; 142. Second transition small gear; 15. Second energy storage gear; 16. Roller; 17. Smooth pin; 18. First through shaft; 19. Second through shaft; 20. Pressure plate. Detailed Implementation

[0025] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0027] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0028] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0029] This invention provides a vine-like biomimetic self-growing gripper, comprising a first gripping part 1 and a second gripping part 2 arranged in opposition, a housing 3, and a drive motor 4, a first spiral shell 5, a first winding shaft 6, a first torsion spring 7, a first double-layer gear 8, an incomplete gear 9, a first energy storage gear 10, a second spiral shell 11, a second winding shaft 12, a second torsion spring 13, a second double-layer gear 14, and a second energy storage gear 15 disposed therein. Both the first gripping part 1 and the second gripping part 2 are elastic coil springs, each wound around the first winding shaft 6 and the second winding shaft 12. The first winding shaft 6 and the second winding shaft 12 are respectively fixed to the center inside the first spiral shell 5 and the second spiral shell 11. The first torsion spring 7 and the second torsion spring 13 are respectively fixed to the first winding shaft 6 and the second winding shaft 12. Inside, the drive motor 4 is fixed on the outer wall of the first spiral shell 5. The rotation shaft of the drive motor 4 is fixed at the center of the incomplete gear 9. The first double-layer gear 8 includes a first transition large gear 81 and a first transition small gear 82, which are coaxially rotatably connected to the first spiral shell 5. The first energy storage gear 10 is fixed at one end of the first winding shaft 6. The incomplete gear 9 and the first transition large gear 81 can mesh. The first transition small gear 82 meshes with the first energy storage gear 10. The second double-layer gear 14 includes a second transition large gear 141 and a second transition small gear 142, which are coaxially rotatably connected to the second spiral shell 11. The second energy storage gear 15 is fixed at one end of the second winding shaft 12. The second transition small gear 142 meshes with the second energy storage gear 15. The first transition large gear 81 and the second transition large gear 141 mesh with each other.

[0030] The outer shell 3 encloses all other parts of the entire gripper, providing sun protection, dust protection, and waterproofing. It protects other components from direct sunlight, rain, moisture, and dust accumulation. One end face of the outer shell 3 has four mounting holes 31 for mounting and mating with other robots.

[0031] The gripper of this invention can cooperate with other robots to assist them in climbing vertically positioned cylindrical objects (the purpose of climbing may be for exploration). While the robot itself has an upward driving force, its stroke is limited. To prevent the robot from falling after completing one stroke, the gripper in this invention needs to grasp the cylindrical object. When the gripper cooperates with the robot to climb, the gripper is initially released, the robot moves upward, and after moving a certain distance, the gripper grasps the cylindrical object, thus completing a section of climbing. To continue climbing, the gripper is released again, the robot moves upward again, and finally the gripper grasps the cylindrical object. This process repeats continuously throughout the climbing process.

[0032] The robots mentioned in this invention are mainly continuum robots, which can make adaptive movements on curved surfaces, can produce flexible deformations at any part, and have many degrees of freedom. For example, a continuum robot is disclosed in Chinese Patent CN114012713B.

[0033] The gripper of this invention is driven by only one drive motor 4, which makes the structure simpler, the operation more convenient, and reduces the overall load of the gripper, allowing for more flexible gripping of cylindrical objects (such as tree trunks).

[0034] The working principle of the gripper releasing cylindrical objects in this invention is as follows: When the rotating shaft of the drive motor 4 rotates clockwise, it can drive the incomplete gear 9 to rotate clockwise. When the convex tooth of the incomplete gear 9 meshes with the first transition large gear 81, it can drive the first transition large gear 81 to rotate counterclockwise. At the same time, the first transition small gear 82 also rotates counterclockwise, which in turn causes the first energy storage gear 10 to rotate clockwise, thereby causing the first winding shaft 6 to rotate clockwise, and finally causing the first gripping part 1 to be wound into the first spiral shell 5. When the first transition large gear 81 rotates counterclockwise, it will drive the second transition large gear 141 to rotate clockwise. At the same time, the second transition small gear 142 also rotates clockwise, which in turn causes the second energy storage gear 15 to rotate counterclockwise, thereby causing the second winding shaft 12 to rotate counterclockwise, and finally causing the second gripping part 2 to be wound into the second spiral shell 11.

[0035] The working principle of the gripper grasping a cylindrical object: While the first gripping part 1 and the second gripping part 2 are respectively wound into the first spiral shell 5 and the second spiral shell 11, the first torsion spring 7 and the second torsion spring 13 rotate, thus storing energy. During the clockwise rotation of the drive motor 4, when the convex tooth of the incomplete gear 9 is not meshed with the first transition gear 81, the first energy storage gear 10 and the second energy storage gear 15 cannot continue to rotate in their original direction. Under the action of elastic potential energy, the first torsion spring 7 and the second torsion spring 13 rotate in opposite directions, and the first gripping part 1 and the second gripping part 2 are quickly released from the first spiral shell 5 and the second spiral shell 11, respectively. During this rapid release, the first gripping part 1 and the second gripping part 2 come into contact with the cylindrical object, completing the gripping action.

[0036] Specifically, a first through shaft 18 is fixed to the outer surface of the first spiral shell 5. The first transition large gear 81 and the first transition small gear 82 are both fitted onto the first through shaft 18. The rotating shaft of the drive motor 4 is fixedly connected to the incomplete gear 9. A portion of the end of the rotating shaft of the drive motor 4 extends beyond the incomplete gear 9. Pressure plates 20 are fixed to both the end of the rotating shaft of the drive motor 4 and the end of the first through shaft 18. This confines the first transition large gear 81 and the first transition small gear 82 within the pressure plates 20, preventing them from falling off the first through shaft 18. The first through shaft 18 is a two-step cylinder that separates the first transition large gear 81 and the first transition small gear 82.

[0037] The second through shaft 19 is fixed to the outer surface of the second spiral shell 11. The second transition large gear 141 and the second transition small gear 142 are both sleeved on the second through shaft 19. The second through shaft 19 is a three-step cylinder that separates the second transition large gear 141 and the second transition small gear 142 and prevents the second transition large gear 141 and the second transition small gear 142 from falling off the second through shaft 19.

[0038] A roller 16 is rotatably connected to one end of the first gripping part 1 and the second gripping part 2 that extends out of the spiral outer shell 3. When the first gripping part 1 and the second gripping part 2 come into contact with a cylindrical object with a large surface roughness, such as a tree trunk, the friction can be significantly reduced. This not only avoids friction from hindering the rapid release and retraction of the first gripping part 1 and the second gripping part 2, but also effectively reduces the damage to the first gripping part 1 and the second gripping part 2.

[0039] The outer spiral portion of the first spiral shell 5 and the outer spiral portion of the second spiral shell 11 are each provided with a number of smooth pins 17, which can effectively reduce the friction force experienced by the first gripping part 1 and the second gripping part 2 when they come into contact with the inner wall of the spiral shell during the winding and release process. This not only avoids the friction force from hindering the rapid release and winding of the first gripping part 1 and the second gripping part 2, but also effectively reduces the damage to the first gripping part 1 and the second gripping part 2.

[0040] Because the gripper of this invention is a coiled spring, it is a flexible gripper with self-growing characteristics and rapid grasping ability. Therefore, it can easily achieve variable diameter movement, has good adaptability, and can release an appropriate length value according to the diameter value of the cylindrical object.

[0041] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A vine-like biomimetic self-growing claw, comprising a first grasping part (1) and a second grasping part (2) arranged in opposition, characterized in that, It also includes a housing (3) and a drive motor (4), a first spiral shell (5), a first winding shaft (6), a first torsion spring (7), a first double-layer gear (8), an incomplete gear (9), a first energy storage gear (10), a second spiral shell (11), a second winding shaft (12), a second torsion spring (13), a second double-layer gear (14), and a second energy storage gear (15) disposed therein. The first gripping part (1) and the second gripping part (2) are both elastic coil springs. The first gripping part (1) and the second gripping part (2) are each wound on the first winding shaft (6) and the second winding shaft (12). The first winding shaft (6) and the second winding shaft (12) are each fixed at the center inside the first spiral shell (5) and the second spiral shell (11). The first torsion spring (7) and the second torsion spring (13) are respectively fixed inside the first winding shaft (6) and the second winding shaft (12). The drive motor (4) is fixed on the first spiral shell. On the outer wall of the spiral shell (5), the rotating shaft of the drive motor (4) is fixed to the center of the incomplete gear (9). The first double-layer gear (8) includes a first transition large gear (81) and a first transition small gear (82), which are coaxially rotatably connected to the first spiral shell (5). The first energy storage gear (10) is fixed to one end of the first winding shaft (6). The incomplete gear (9) meshes with the first transition large gear (81). The first transition small gear (82) meshes with the first energy storage gear (10). The second double-layer gear (14) includes a second transition large gear (141) and a second transition small gear (142), which are coaxially rotatably connected to the second spiral shell (11). The second energy storage gear (15) is fixed to one end of the second winding shaft (12). The second transition small gear (142) meshes with the second energy storage gear (15). The first transition large gear (81) and the second transition large gear (141) mesh with each other.

2. The vine-like biomimetic self-growing claw according to claim 1, characterized in that, The outer casing (3) has a mounting hole (31) on one end face.

3. The vine-like biomimetic self-growing claw according to claim 2, characterized in that, Both the first gripping part (1) and the second gripping part (2) are rotatably connected to a roller (16) at one end of the spiral outer shell (3) extending out of the spiral outer shell.

4. According to claim 3, a kind of vine-like biomimetic self-growing claw, the outer spiral part of the first spiral shell (5) and the outer spiral part of the second spiral shell (11) are each provided with a plurality of smooth pins (17).

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