A dry adhesion grasping and releasing device for the claw foot of a wall-climbing robot
By designing a dry adhesion and release device containing a linear actuation unit on the claw of the wall climbing robot, the problems of low adhesion and desorption efficiency and high energy loss in the prior art are solved, and the wall climbing robot is realized. Efficient climbing and movement on vertical walls and reduce the destructiveness of the desorption process.
Patent Information
- Application Number
- CN202310222107.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2023-03-09
- Publication Date
- 2025-01-03
- Estimated Expiration
- 2043-03-09
AI Technical Summary
The existing bionic dry adhesion technology is difficult to achieve strong adhesion and efficient and rapid desorption in the claw foot application of wall-climbing robots. The traditional desorption method will increase energy loss and damage the structure of the adhesion sheet, limiting its in wall-climbing robots. engineering applications.
A dry adhesion and release device including a top frame, a bottom frame, an intermediate frame, an adhesion subunit, a release subunit and a linear actuator subunit were designed. The three-layer frame structure was controlled by a linear actuator unit, and the three-layer frame structure was used to utilize the Release the steel bar bundle to achieve controllable adhesion sheet desorption, reducing energy loss and reducing the destructiveness of the desorption process.
The climbing and crawling of the wall-climbing robot on the vertical wall surface is realized, which reduces energy loss, enhances the controllability of grasping and release, and improves the applicability and reversibility of the device.
Smart Images
Figure CN116101394B_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of bionic dry adhesion, and in particular relates to a dry adhesion grasping and releasing device applied to the claw foot of a wall-climbing robot. Background Art
[0002] The common grasping methods currently used in wall-climbing robots include claw grasping, electromagnetic grasping, suction cup grasping, dry adhesion, wet adhesion and other grasping methods. At present, suction cup grasping and electromagnetic grasping are relatively limited by themselves, requiring corresponding supporting equipment, which is large in size and energy-consuming. Bionic dry adhesion grasping has the advantages of being reusable, non-polluting to the contact surface, and strong surface adaptability, and has received extensive research and attention.
[0003] However, bionic dry adhesion still has many shortcomings in terms of how to achieve efficient and rapid desorption under strong adhesion, which greatly limits its engineering application in the claws of wall-climbing robots. Traditional dry adhesion desorption methods are mainly controllable adhesion and desorption technologies based on physical field regulation responses such as force, air pressure, temperature, and light. However, this will increase the energy loss of the release device, which is not conducive to the miniaturization of the release device and the wall-climbing robot. Forced peeling may damage the structure of the adhesive sheet and contaminate the surface of the grasped object. Therefore, how to achieve controllable desorption of dry adhesion is the difficulty and challenge currently faced by the application of dry adhesion in wall-climbing robots. Summary of the invention
[0004] The purpose of the present invention is to provide a dry adhesion grasping and releasing device applied to the claws of a wall-climbing robot, which solves the problem of structural design of the grasping method of the claws of the wall-climbing robot, realizes the vertical wall climbing and crawling of the wall-climbing robot using the dry adhesion grasping method, and realizes the controllable grasping and releasing (detachment) of the dry adhesion device.
[0005] The technical solution to achieve the purpose of the present invention is: a dry adhesion grasping and releasing device applied to the claw foot of a wall-climbing robot, characterized in that: a plurality of dry adhesion grasping and releasing devices are arranged on the claw foot of the wall-climbing robot to achieve crawling by alternating grasping and releasing.
[0006] The dry adhesion grasping and releasing device applied to the claw foot of the wall-climbing robot includes a top frame, a bottom frame, an intermediate frame, an adhesion sub-unit, a release sub-unit and a linear actuation sub-unit; the top frame, the intermediate frame and the bottom frame are arranged in parallel and spaced from top to bottom, the top frame and the intermediate frame are planar structures, the top surface of the top frame is provided with two fixed pulleys, and the bottom surface of the bottom frame is provided with a pair of support frames, and when the foot of the wall-climbing robot is released from the wall, the support frames still contact the wall to provide support.
[0007] Compared with the prior art, the present invention has the following significant advantages:
[0008] (1) The present invention uses a linear actuation unit and a three-layer frame structure, which has a simple structure and does not require other additional devices to achieve the grasping and releasing of the dry adhesion device, with low energy loss.
[0009] (2) The present invention realizes control of the three-layer frame structure through a linear actuation unit, thereby realizing control of the grasping and releasing process of the dry adhesion device, and has strong controllability.
[0010] (3) During release, the present invention uses a releasing steel bar bundle to exert force on one side of the adhesive sheet to desorb it. The desorption process is less destructive to the device (adhesive sheet) and is reversible.
[0011] (4) The present invention can increase or decrease the number or area of the adhesive sheets according to the mass of the specific wall-climbing robot, thereby enabling the wall-climbing robot to cling to and climb the wall, and has strong applicability. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] Figure 1 The present invention is a schematic diagram of the overall structure of a dry adhesion grasping and releasing device applied to the claw foot of a wall-climbing robot.
[0013] Figure 2 It is a schematic structural diagram of the grasping device of the present invention.
[0014] Figure 3 It is a schematic diagram of the overall structure of the grasping process of the present invention.
[0015] Figure 4 It is a schematic diagram of the overall structure of the release process of the present invention.
[0016] Figure 5 It is a schematic diagram of the structure of the quadruped wall-climbing robot equipped with the present invention. Implementation
[0017] The present invention is further described in detail below in conjunction with the accompanying drawings.
[0018] Combination Figure 1~Figure 4 The present invention discloses a dry adhesion grasping and releasing device for use on the claws of a wall-climbing robot. Several dry adhesion grasping and releasing devices are arranged on the claws of the wall-climbing robot to achieve crawling by alternating grasping and releasing.
[0019] The dry adhesion grasping and releasing device applied to the claw foot of the wall-climbing robot comprises a top frame 3, a bottom frame 4, an intermediate frame 9, an adhesion subunit, a release subunit and a linear actuation subunit. The top frame 3, the intermediate frame 9 and the bottom frame 4 are arranged in parallel and spaced from top to bottom. The top frame 3 and the intermediate frame 9 are planar structures. Two fixed pulleys 8 are arranged on the top surface of the top frame 3, and a pair of support frames are arranged on the bottom surface of the bottom frame 4. When the foot of the wall-climbing robot is released from the wall surface, the support frames still contact the wall surface to provide support.
[0020] Among them, the size of the middle frame 9 is the smallest, and the size of the top frame 3 is the largest.
[0021] The adhesion subunit includes a constant force spring 5, two grasping devices 1, two central steel bar bundles 2, two first soft springs 6 and two second soft springs 7. The grasping device 1 includes a grasping device frame 16, a horizontal steel bar bundle 13, two adhesive sheets 14, two third soft springs 17 and two fourth soft springs 15; the grasping device frame 16 is a U-shaped frame with an opening facing downward, and two adhesive sheets 14 are placed side by side in the opening of the grasping device frame 16, and the top of the adhesive sheet 14 is connected to the top inner wall of the grasping device frame 16 through the fourth soft spring 15, so that the adhesive sheet 14 can maintain a certain degree of freedom in the vertical direction. The two adhesive sheets 14 are connected to each other in the horizontal direction through the horizontal steel bar bundle 13, and are respectively connected to the inner side wall of the grasping device frame 16 through the third soft spring 17 moving in the horizontal direction, so that each adhesive sheet is maintained at the same horizontal height. The two grasping devices 1 are placed side by side, and are connected to the inner wall of the top surface of the bottom frame 4 through an inclined first soft spring 6, and the top surface of each grasping device 1 is connected to the inner wall of the top surface of the bottom frame 4 through two second soft springs 7 in the vertical direction. The constant force spring 5 is located above the top frame 3, and the two central steel bar bundles 2 pass through the top frame 3, the middle frame 9, and the bottom frame 4 in sequence. The top ends of the two central steel bar bundles 2 are connected to the two ends of the constant force spring 5 after passing through the fixed pulley 8, and the bottom ends of the two central steel bar bundles 2 are respectively connected to the middle of a horizontal steel bar bundle 13.
[0022] The release subunit includes four release steel bar bundles 10; the four release steel bar bundles 10 are distributed on one side of each adhesive sheet 14 close to the central steel bar bundle 2, the bottom end of the release steel bar bundle 10 is fixedly connected to the top surface of the adhesive sheet 14, and the top end of the release steel bar bundle 10 passes through the bottom frame 4 and is connected to the bottom surface of the middle frame 9.
[0023] The linear actuator includes four first linear brakes 11 and four second linear brakes 12; the four first linear brakes 11 are distributed on the four corner top surfaces of the middle frame 9 to control the distance between the top frame 3 and the middle frame 9, and the four second linear brakes 12 are distributed on the four corner top surfaces of the bottom frame 4 to control the distance between the top frame 3 and the bottom frame 4.
[0024] The adhesive sheet 14 is made of bionic technology, and its microfiber surface is designed to simulate the bristles on the gecko's feet. Its adhesion principle is an adhesion effect based on van der Waals force. The adhesion force of the adhesive sheet 14 in the adhered state is mainly provided by the molecular attraction between the villi at the end of the bristles and the wall, that is, van der Waals force.
[0025] Combination Figure 2 , the grasping device 1 does not contact the wall, the released steel bar bundle 10 is in a relaxed state, and the central steel bar bundle 2 is in a tense state. At this time, the adhesive sheet 14 is loaded downward at a certain angle (usually about 10°) to contact the wall. After the grasping device 1 contacts the wall, the shear forces on the two adhesive sheets 14 offset each other, leaving an adhesive force perpendicular to the wall to realize the grasping function of the wall-climbing robot.
[0026] When the grasping device 1 is separated from the wall, the central reinforcing bar bundle 2 is first relaxed so that the shear force on the two adhesive sheets 14 disappears and the adhesive force decreases, and then the reinforcing bar bundle 10 is pulled to release the adhesive sheet 14 from the surface of the adhered object.
[0027] Combination Figure 3 The principle of the dry adhesion grasping and releasing device of the present invention is:
[0028] When the grasping function needs to be realized, the second linear actuator 12 will increase the distance between the top frame 3 and the bottom frame 4, so that the central steel bar bundle 2 remains taut during the adhesion process, and the adhesion sheet 14 moves downward with the bottom frame until it contacts the wall. When the number of grasping devices 1 acting on the wall increases, the adhesion force provided by each grasping device 1 increases unevenly until it reaches almost the same force as the constant force spring 5, and a balance is achieved. When all grasping devices 1 reach equilibrium, as the constant force spring 5 continues to stretch, the total force remains almost unchanged. Since the adhesion force perpendicular to the wall in the equilibrium state is slightly lower than the limit of the van der Waals force that can be provided by each grasping device 1, the grasping device 1 maintains a secure connection with the wall, realizing the grasping function of the wall-climbing robot.
[0029] Combination Figure 4 The release (desorption) principle of the dry adhesion grasping and releasing device of the present invention is:
[0030] The second linear actuator 12 releases the tension in the central tendon 2 by reducing the distance between the top frame 3 and the bottom frame 4, and the first linear actuator 11 reduces the distance between the top frame 3 and the middle frame 9 until the released tendon 10 becomes tight. Then, the distance between the top frame 3 and the middle frame 9 continues to increase, so that the adhesive sheet 14 is gradually torn away from the wall surface from the side close to the central tendon 2 under the action of the released tendon 10, thereby achieving the release (desorption) of dry adhesion.
[0031] Combination Figure 5 , taking the four-legged wall-climbing robot equipped with the present invention as an example, the movement process is explained:
[0032] The four claws of the quadruped wall-climbing robot are all equipped with the present invention. When the quadruped wall-climbing robot is placed in front of the wall, the dry adhesion grasping and releasing devices installed on the four legs of the wall-climbing robot are changed from the release state to the grasping state. At this time, the wall-climbing robot is moved to a position 1-2 cm away from the wall. Under the action of the second linear actuator 12, the distance between the grasping device 1 and the wall is gradually reduced until each adhesive sheet 14 is in full contact with the wall, and the grasping device 1 on the four legs achieves good grasping. Since the friction force formed by the grasping force perpendicular to the wall is equal to the gravity of the wall-climbing robot itself, the wall-climbing robot can be adsorbed on the vertical wall.
[0033] When the wall-climbing robot needs to move on a vertical wall, the grasping device 1 installed on the No. 1 foot is first released. During the release process, the support frame located on the bottom surface of the bottom frame 3 plays a certain supporting role to prevent the wall-climbing robot from falling due to the sudden change of force on the No. 1 foot. After the grasping device 1 is completely released, the No. 1 foot is lifted up to restore the grasping device 1 to the grasping state and move it to 1-2 cm above the new landing point of the No. 1 foot. Under the action of the second linear actuator 12, the distance between the grasping device 1 and the wall is gradually reduced until the No. 1 foot grasps at the new landing point. Repeat the above operations for the No. 2, No. 3, and No. 4 feet in turn to achieve the movement of the wall-climbing robot on the wall.
Claims
1. A dry adhesion grasping and releasing device for a wall-climbing robot claw, characterized in that: A plurality of dry adhesion grasping and releasing devices are arranged on the claws of the wall-climbing robot to achieve crawling by alternately grasping and releasing; The dry adhesion grasping and releasing device applied to the claw foot of a wall-climbing robot comprises a top frame (3), a bottom frame (4), an intermediate frame (9), an adhesion subunit, a release subunit and a linear actuation subunit; the top frame (3), the intermediate frame (9) and the bottom frame (4) are arranged in parallel and spaced apart from top to bottom; the top frame (3) and the intermediate frame (9) are planar structures; two fixed pulleys (8) are arranged on the top surface of the top frame (3); a pair of support frames are arranged on the bottom surface of the bottom frame (4); when the foot of the wall-climbing robot is released from the wall surface, the support frames still contact the wall surface to provide support; The adhesion subunit comprises a constant force spring (5), two grasping devices (1), two central steel bar bundles (2), two first soft springs (6) and two second soft springs (7); the grasping device (1) comprises a grasping device frame (16), a horizontal steel bar bundle (13), two adhesive sheets (14), two third soft springs (17) and two fourth soft springs (15); the grasping device frame (16) is a U-shaped frame with an opening facing downward; the two adhesive sheets (14) are placed side by side in the opening of the grasping device frame (16); the top of the adhesive sheet (14) is connected to the top inner wall of the grasping device frame (16) via the fourth soft spring (15), so that the adhesive sheet (14) can maintain a certain degree of freedom in the vertical direction; the two adhesive sheets (14) are connected to each other in the horizontal direction via the horizontal steel bar bundle (13), and are respectively The third soft spring (17) moving in the horizontal direction is connected to the inner wall of the grasping device frame (16), so that each adhesive sheet is maintained at the same horizontal height; the two grasping devices (1) are placed side by side, and are respectively connected to the inner wall of the top surface of the bottom frame (4) through an inclined first soft spring (6), and the top surface of each grasping device (1) is further connected to the inner wall of the top surface of the bottom frame (4) through two second soft springs (7) in the vertical direction; the constant force spring (5) is located above the top frame (3), and the two central steel bar bundles (2) pass through the top frame (3), the middle frame (9), and the bottom frame (4) in sequence, respectively, and the top ends of the two central steel bar bundles (2) are connected to the two ends of the constant force spring (5) after passing through the fixed pulley (8), and the bottom ends of the two central steel bar bundles (2) are respectively connected to the middle of a horizontal steel bar bundle (13); The release subunit comprises four release steel bar bundles (10); the four release steel bar bundles (10) are distributed on a side of each adhesive sheet (14) close to the central steel bar bundle (2); the bottom end of the release steel bar bundle (10) is fixedly connected to the top surface of the adhesive sheet (14); and the top end of the release steel bar bundle (10) passes through the bottom frame (4) and is connected to the bottom surface of the middle frame (9); The linear actuator comprises four first linear brakes (11) and four second linear brakes (12); the four first linear brakes (11) are distributed on the four corner top surfaces of the middle frame (9) and are used to control the distance between the top frame (3) and the middle frame (9); the four second linear brakes (12) are distributed on the four corner top surfaces of the bottom frame (4) and are used to control the distance between the top frame (3) and the bottom frame (4).
2. The dry adhesion grasping and releasing device for the claw foot of a wall-climbing robot according to claim 1, characterized in that: The middle frame (9) has the smallest size, and the top frame (3) has the largest size.
3. The dry adhesion grasping and releasing device for the claw foot of a wall-climbing robot according to claim 1, characterized in that: The grasping device (1) does not contact the wall, the released steel bar bundle (10) is in a relaxed state, and the central steel bar bundle (2) is in a tense state; at this time, the adhesive sheet (14) is loaded downward at a certain angle to contact the wall; after the grasping device (1) contacts the wall, the shear forces on the two adhesive sheets (14) offset each other, leaving an adhesive force perpendicular to the wall to realize the grasping function of the wall-climbing robot; When the grasping device (1) is detached from the wall, the central steel bar bundle (2) is first placed in a relaxed state, so that the shear force on the two adhesive sheets (14) disappears and the adhesive force is reduced, and then the steel bar bundle (10) is pulled to release the adhesive sheet (14) so that the adhesive sheet (14) is detached from the surface of the adhered object.