Active desorption clamping jaw type climbing robot based on nanometer micro-suction glue and grabbing, desorption and climbing method

Abstract

The invention provides an active desorption clamping jaw type climbing robot based on nanometer micro suction glue and a grabbing, desorption and climbing method. The robot comprises a trunk part and two separable active desorption clamping jaws simulating fin structures, the two clamping jaws are the first clamping jaw and the second clamping jaw, and the first clamping jaw and the second clamping jaw both have the active desorption function, the self-adaptive grabbing function and the adhesion function; the trunk part comprises a first driving mechanism, a second driving mechanism and a third driving mechanism, on the basis of the structure, the fixed connection mode of a cross beam and a longitudinal beam on the outer side of the self-adaptive clamping jaw is changed into a magnet adsorption connection mode, and meanwhile the self-adaptive adhesion / grabbing and active desorption functions are achieved. And in combination with the trunk part, autonomous climbing movement is realized. In addition, the climbing robot can inhabit on any object or other climbing robot bodies, the moving grabbing movement after inhabiting is completed, the movement range and the use scene of the whole robot are expanded, and the adaptability of the robot on different platforms is improved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to an active desorption gripper-type climbing robot based on nano-micro-adhesive suction and a grasping, desorption and climbing method. Background Art

[0002] Dry adhesion climbing robots can move on vertical walls or inverted surfaces, perform difficult and dangerous tasks, and have broad application prospects in multiple industries. Compared with magnetic adsorption, electrostatic adsorption, and negative pressure adsorption, dry adhesion climbing robots can continue to adhere to the surface without additional energy input after adhering through external force.

[0003] The fin-like structure of the gripper achieves adaptive gripping by simulating the movement principle of the fin, and can increase the contact area with the grasped object by imitating the flexibility of the fin. When the flexible gripper of the fin-like structure contacts the workpiece, the pressure causes the side of the structure to bend, so that the base and the tip bend in the direction of the applied load, achieving an enveloping effect on the workpiece, thereby improving the stability of the grip.

[0004] The existing fish fin-like grippers are mainly passive adaptive grippers. If dry adhesive materials are added to the grippers, they cannot be actively desorbed from the surface, resulting in excessive desorption force, which affects the stability of the robot. Therefore, it is necessary to design a new type of active desorption gripper that can not only adaptively grasp, but also achieve adaptive adhesion and active desorption on the surface, and combine rotation and movement joints to achieve autonomous climbing on vertical and inverted surfaces.

[0005] Therefore, the present invention designs an active desorption claw climbing robot based on nano-micro-adhesive, which can not only realize adaptive "habitat" and adaptive grasping tasks, but also can realize autonomous climbing motion as an independent climbing robot. Summary of the invention

[0006] According to the technical problems raised above, an active desorption claw-type climbing robot based on nano-micro-adhesive and a grasping, desorption and climbing method are provided.

[0007] The technical means adopted by the present invention are as follows:

[0008] An active desorption gripper-type climbing robot based on nano-micro-adhesive, comprising: a trunk part and two detachable active desorption grippers with a fish fin-like structure, the two grippers being a first gripper and a second gripper, the first gripper and the second gripper both having active desorption, adaptive grasping and adhesion functions;

[0009] The torso part includes a first driving mechanism, a second driving mechanism and a third driving mechanism, the first jaw is connected to one side of the first driving mechanism, the other side of the first driving mechanism is connected to one side of the second driving mechanism, the other side of the second driving mechanism is connected to one side of the third driving mechanism, and the other side of the third driving mechanism is connected to the second jaw; the first driving mechanism is used to enable the first jaw or the second jaw to reach a specified height or orientation, the second driving mechanism is used to enable the first jaw or the second jaw to perform linear motion, and the third driving mechanism is used to enable the first jaw or the second jaw to reach a specified position or a suitable posture.

[0010] Furthermore, the first clamp and the second clamp have the same structure, including a fourth driving mechanism and a detachable flexible claw connected to the fourth driving mechanism. The fourth driving mechanisms of the first clamp and the second clamp are respectively connected to the first driving mechanism and the third driving mechanism, so as to realize the expansion and closing of the detachable flexible claws on both sides; the detachable flexible claws are provided with an adsorption structure.

[0011] Further, the fourth driving mechanism includes a plane bearing, two gear-shaped connecting parts, a clamp driving gear, a clamp driven gear, a desorption driving gear, a first desorption connecting gear, a first double-pass hexagonal copper column, a desorption driven gear, a second desorption connecting gear, a second double-pass hexagonal copper column, a desorption servo motor, a first positioning frame, a second positioning frame and a driving servo motor, and the detachable flexible claw has two symmetrical claw tips, and multiple groups of magnets are arranged on the inner and outer surfaces of the outer wall of each claw tip at intervals;

[0012] The two gear-shaped connecting members are respectively fixedly connected to the two claw tips of the detachable flexible claws, wherein one gear-shaped connecting member is meshedly connected to the clamping claw driving gear, and the other gear-shaped connecting member is meshedly connected to the clamping claw driven gear, the clamping claw driven gear is meshedly connected to the clamping claw driving gear, the first detachment connection gear and the second detachment connection gear are respectively connected to the end racks on both sides of the detachable flexible claw, the first detachment connection gear is meshedly connected to the detachment drive gear, the detachment drive gear is meshedly connected to the detachment driven gear, the detachment driven gear is meshedly connected to the second detachment connection gear, the detachment servo motor is fixedly connected to the first positioning frame, the driving end of the detachment servo motor is fixedly connected to the detachment drive gear, the driving servo motor is fixedly connected to the second positioning frame, and the driving end of the driving servo motor is fixedly connected to the clamping claw driving gear;

[0013] The gear-shaped connecting member is connected to the first positioning frame and the second positioning frame through plane bearings located above and below the gear-shaped connecting member, and the first positioning frame and the second positioning frame are fastened and fixed through the first double-through hexagonal copper column and the second double-through hexagonal copper column;

[0014] The meshing connections between gears are all interference fits.

[0015] Furthermore, the inner side of the detachable flexible claw in contact with the object is provided with nano-micro-adhesive.

[0016] Furthermore, the first driving mechanism includes a first arm connecting plate and a first servo motor, one side of the first arm connecting plate is connected to the driving servo motor of the first clamp, and the other side is connected to the first servo motor, and the first servo motor is connected to the second driving mechanism.

[0017] Furthermore, the second driving mechanism includes a first linear guide, a linear motor, a linear needle bearing and a second linear guide, the first linear guide is connected to the first servo motor of the first driving mechanism, the linear motor is connected to the first linear guide and embedded in the second linear guide, the linear needle bearing is fixed in a groove of the second linear guide, and the second linear guide is connected to the third driving mechanism.

[0018] Furthermore, the third driving mechanism includes a second servo motor and a second arm connecting plate, the second servo motor is connected to the second linear guide rail of the second driving mechanism, one side of the second arm connecting plate is connected to the second servo motor, and the other side is connected to the servo motor for driving the second clamp.

[0019] The present invention provides an adaptive grasping and perching method of an active desorption gripper-type climbing robot based on nano-micro-adhesive suction, comprising the following steps:

[0020] Step 1: Each driving servo motor drives the gripper driving gear to make the detachable flexible claw in a flat state, and the first gripper is brought close to the movable platform to be bound. The driving servo motor of the first gripper drives the gripper driving gear to close the detachable flexible claw to realize the clamping function. At this time, the climbing robot is fixed on the movable platform, and the first gripper does not perform any other actions;

[0021] Step 2: The first servo motor rotates to drive the second gripper to reach a specified height, the linear motor performs telescopic motion to make the second gripper reach a specified position, and the second servo motor rotates to make the second gripper reach a suitable posture;

[0022] Step 3: The servo motor driving the second clamping jaw drives the clamping jaw driving gear to close the detachable flexible jaw, and the detachable flexible jaw contacts the grasped object to form an envelope state, and the nano-micro-adhesive on the surface of the detachable flexible jaw adheres to the grasped object, and the grasping is stable and reliable at this time.

[0023] The present invention also provides an active desorption method of a claw-type climbing robot based on active desorption of nano-micro-adhesive, comprising the following steps:

[0024] Step 1, the desorption servo motor of the active desorption clamping jaw drives the desorption driving gear, thereby driving the first desorption connecting gear and the desorption driven gear, and the desorption driven gear drives the second desorption connecting gear. At this time, the end rack fixedly connected to the first desorption connecting gear and the second desorption connecting gear is tightened, so that the magnet is separated, and the detachable flexible claw of the active desorption clamping jaw is separated from the surface of the object;

[0025] Step 2: The servo motor driving the active desorption jaw drives the jaw driving gear to make the detachable flexible jaw in a flat state; at this point, the active desorption method of the active desorption jaw is completed.

[0026] The present invention also provides a climbing method of an active desorption claw-type climbing robot based on nano-micro-adhesive suction, comprising the following steps:

[0027] S1, starting state: each driving servo motor drives the clamp driving gear to make the detachable flexible claw in a flat state, and each detachable flexible claw is adhered to the vertical wall;

[0028] S2, the detachment servo motor of the first clamping jaw drives the detachment driving gear, thereby driving the first detachment connecting gear and the detachment driven gear, and the detachment driven gear drives the second detachment connecting gear. At this time, the end rack fixedly connected to the first detachment connecting gear and the second detachment connecting gear is tightened, so that the magnet is separated, and the detachable flexible jaw is separated from the vertical wall;

[0029] S3, the first servo motor rotates to separate the first clamp from the wall, the second servo motor rotates to make the first clamp reach the desired direction, and the linear motor performs linear motion to make the first clamp reach the specified position;

[0030] S4, the first servo motor rotates to make the detachable flexible claw of the first clamping jaw adhere to the wall, the detachment servo motor of the first clamping jaw rotates, so that the end rack is in a relaxed state, the surface of the detachable flexible claw is in a flat state, and the driving servo motor rotates to make the angle between the two claw tips of the detachable flexible claw be 170°, at this time, the adsorption area between the nano-micro-adhesive on the surface of the detachable flexible claw and the wall is increased, and the first clamping jaw is completely adsorbed on the wall;

[0031] S5, the second clamping jaw performs the same action as step S2, completing the separation of the detachable flexible jaw of the second clamping jaw;

[0032] S6, the first servo motor of the first clamping jaw rotates to separate the second clamping jaw from the wall, the linear motor retracts to drive the second clamping jaw to move as a whole, and the second servo motor rotates to make the second clamping jaw reach the specified position;

[0033] S7, the first servo motor of the first jaw rotates to make the detachable flexible claw of the second jaw adhere to the wall, the detachment servo motor of the second jaw rotates to make the end rack in a relaxed state, the surface of the detachable flexible claw is in a flat state, and the driving servo motor rotates slightly to make the angle between the two claw tips of the detachable flexible claw be 170°. At this time, the adsorption area between the nano-micro adhesive on the surface of the detachable flexible claw and the wall is greatly increased, and the second jaw can be completely adsorbed on the wall. At this point, one climbing action is completed; repeat steps S1 to S7 to achieve the overall climbing of the robot.

[0034] Compared with the prior art, the present invention has the following advantages:

[0035] 1. The present invention designs an active desorption gripper based on nano-micro-adhesive. The gripper is based on a fish fin-like structure, and the fixed connection method between the outer crossbeam and the longitudinal beam of the adaptive gripper is changed to a connection method of magnetic adsorption, thereby improving the disadvantage that the current adaptive gripper cannot actively desorb, and realizing an adaptive gripper with active desorption capability.

[0036] 2. The present invention provides a climbing robot with adaptive grasping and perching. Based on the active desorption gripper structure of nano-micro-adhesive, the robot can adaptively grasp irregular objects and improve the gripping ability of the gripper. In addition, the climbing robot can "perch" on any object or other climbing robot body and complete the mobile grasping movement after "perching". The adaptive grasping and perching functions are realized.

[0037] 3. On this basis, the present invention can also be used as an independent climbing robot to achieve autonomous climbing on smooth adhesion surfaces. The autonomous climbing movement is achieved through the active adhesion and desorption movement of the two adaptive grippers at the end on the climbing surface, in conjunction with the telescopic movement of the linear motor.

[0038] Based on the above reasons, the present invention can be widely promoted in the fields of construction, energy, electricity, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0040] Figure 1 An oblique view of an active desorption claw-type climbing robot based on nano-micro-adhesive provided in a specific embodiment of the present invention.

[0041] Figure 2A front view of a detachable active desorption jaw portion provided for a specific embodiment of the present invention.

[0042] Figure 3 An oblique view of a detachable active desorption jaw portion provided for a specific embodiment of the present invention.

[0043] Figure 4 A side view of a detachable active desorption jaw portion provided for a specific embodiment of the present invention.

[0044] Figure 5 An oblique view of a torso portion is provided for a specific embodiment of the present invention.

[0045] In the figure: 1. detachable flexible claw; 2. magnet; 3. plane bearing; 4. gear-shaped connecting piece; 5. clamping claw driving gear; 6. clamping claw driven gear; 7. desorption driving gear; 8. first desorption connection gear; 9. first double-pass hexagonal copper column; 10. desorption driven gear; 11. second desorption connection gear; 12. second double-pass hexagonal copper column; 13. desorption servo motor; 14. first positioning frame; 15. second positioning frame; 16. driving servo motor; 17. first arm connecting plate; 18. first servo motor; 19. first linear guide; 20. linear motor; 21. linear needle roller bearing; 22. second linear guide; 23. second servo motor; 24. second arm connecting plate. DETAILED DESCRIPTION

[0046] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0047] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0049] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be clear that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0050] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0051] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0052] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0053] The present invention provides a passive grasping and active desorption method based on a fish fin-like structure, and designs a new type of active desorption gripper based on this method, which can not only passively adaptively grasp, but also actively adhere to and desorb on the wall. Based on this, an active desorption gripper-type climbing robot based on nano-micro-adhesive was developed, which can climb autonomously on vertical and inverted surfaces. This invention not only improves the adaptability and flexibility of the grasping robot to the grasped objects, but also expands the motion range and usage scenarios of the overall robot based on the climbing performance.

[0054] The present invention discloses an active desorption claw climbing robot based on nano-micro-adhesive, comprising a trunk part, two pairs of detachable active desorption claws of a fish fin structure mounted on a connecting plate of the trunk part, the two claws being respectively a first claw and a second claw, and having the same structure. The claw comprises an upper and lower positioning frame, two servo motors, a claw driving gear, a claw driven gear, two gear-shaped connecting members, a desorption driving gear, a desorption driven gear, two gears for connecting desorption, an active desorption claw of a fish fin structure, a magnet, nano-micro-adhesive, a gasket, etc. The two servo motors are respectively connected to the upper and lower positioning frames, the claw driving gear is connected to the servo motor, the claw driven gear cooperates with the claw driving gear, a gear-shaped connecting member cooperates with the claw driven gear, the other side of the connecting member is connected to the flexible claw, another gear-shaped connecting member cooperates with the claw driving gear, and the other side of the connecting member is connected to the flexible claw. The desorption driving gear is fixedly connected to the servo motor, the desorption driven gear cooperates with the desorption driving gear, and the two desorption connecting gears cooperate with the desorption driven gear and the desorption driving gear respectively, and the above gears are all interference fits. The two desorption connecting gears are fixedly connected to the desorption rack belt of the active desorption clamp. The magnet is installed in the active desorption clamp, the nano-micro-adhesive is attached to the contact surface between the clamp and the workpiece, and the gasket is installed between the positioning frame and the gear. The trunk part includes an arm connecting plate, a servo motor, a linear motor, a first linear guide, a second linear guide, and a linear needle bearing. The arm connecting plate is respectively fixedly connected to the servo motor in the above-mentioned clamp and the servo motor in the trunk part, the first linear guide is coaxially fixedly connected to the driving wheel of the servo motor, the second linear guide is coaxially fixedly connected to the driving wheel of another servo motor, the linear motor is built into the second linear guide, and the linear needle bearings are distributed around the second linear guide. The present invention changes the fixed connection mode between the outer crossbeam and the longitudinal beam of the adaptive gripper into a connection mode of magnet adsorption, and realizes the functions of adaptive adhesion / grasping and active detachment at the same time. And the autonomous climbing movement is realized in combination with the trunk part. In addition, the climbing robot can "perch" on any object or other climbing robot body, complete the mobile grasping movement after "perching", expand the overall robot's range of motion and usage scenarios, and improve the robot's adaptability on different platforms.

[0055] The present invention also provides a climbing method for a climbing robot acting on a vertical surface and an inverted surface, comprising the following process (taking vertical upward climbing on a vertical surface as an example):

[0056] Step 1: Two gripper surfaces with nano-micro adhesive are attached to the vertical wall, and the other motors have no other movements.

[0057] Step 2: The servo motor of the first clamping jaw drives the desorption driving gear, which drives the desorption connecting gear, so that the desorption rack belt of the clamping jaw contracts, thereby gradually reducing the adhesion area, and finally achieving the active desorption effect. At this time, the first servo motor of the trunk part rotates to drive the first clamping jaw to completely detach from the wall, and the linear motor of the trunk part drives the first linear guide to move, so that the first clamping jaw moves as a whole. After reaching a certain stroke, the servo motor of the first clamping jaw drives the desorption driving gear to rotate, and the clamping jaw driving gear maintains the current position, so that the clamping jaw maintains 170° to achieve stable adhesion, and the second step is completed.

[0058] In the third step, the servo motor of the second jaw drives the desorption drive gear, which drives the desorption connection gear, so that the desorption rack belt of the jaw contracts, thereby gradually reducing the adhesion area. At this time, the first servo motor of the trunk part rotates to drive the second jaw to completely detach from the wall, and the linear motor of the trunk part drives the second linear guide to move a certain stroke. The servo motor of the second jaw drives the desorption drive gear to rotate, and the jaw drive gear maintains the current position, so that the jaw remains at 170° to achieve stable adhesion. The third step is completed, and a climbing action is completed.

[0059] Example 1

[0060] like Figures 1 to 5 As shown, the present invention provides an active desorption gripper-type climbing robot based on nano-micro-adhesive, that is, a climbing robot with a detachable fish-fin-like structure for grabbing and desorption. It includes a trunk part and two detachable active desorption grippers with a fish-fin-like structure. The driving servo motors 16 of the two grippers are fixedly connected to the first arm connecting plate 17 and the second arm connecting plate 24, respectively.

[0061] The trunk part includes a first arm connecting plate 17, a first servo motor 18, a first linear guide 19, a linear motor 20, a linear needle bearing 21, a second linear guide 22, a second servo motor 23, and a second arm connecting plate 24. The first arm connecting plate 17 is fixedly connected to the first servo motor 18, and the first linear guide 19 is fixedly connected to the driving disk of the first servo motor 18. The linear motor 20 is embedded in the second linear guide 22, and the linear needle bearing 21 is fixed in the groove of the second linear guide 22, so as to realize the relative rolling between the first linear guide 19 and the second linear guide 22, the second linear guide 22 is fixedly connected to the second servo motor 23, and the second servo motor 23 is fixedly connected to the second arm connecting plate 24.

[0062] The detachable active desorption clamp of the fish fin-like structure includes a detachable flexible clamp 1, a magnet 2, a plane bearing 3, a gear-shaped connector 4, a clamp driving gear 5, a clamp driven gear 6, a desorption driving gear 7, a first desorption connection gear 8, a first double-pass hexagonal copper column 9, a desorption driven gear 10, a second desorption connection gear 11, a second double-pass hexagonal copper column 12, a desorption servo motor 13, a first positioning frame 14, a second positioning frame 15, a driving servo motor 16, a gasket, etc. The detachable flexible claw 1 is fixedly connected to the magnet 2, the contact surface between the detachable flexible claw 1 and the object is provided with nano-micro-adhesive, the gear-shaped connecting member 4 is fixedly connected to the detachable flexible claw 1 through a hard plastic plate, one gear-shaped connecting member 4 is interference fit with the clamping claw driving gear 5, the other gear-shaped connecting member 4 is interference fit with the clamping claw driven gear 6, the clamping claw driven gear 6 is interference fit with the clamping claw driving gear 5, the first detachable connection gear 8, the second detachable connection gear 11 and the end rack (detachable rack belt) of the detachable flexible claw 1 are fixedly connected (not specifically When mentioned, the racks are all in a relaxed state), the first desorption connection gear 8 and the desorption drive gear 7 are interference fit, the desorption drive gear 7 and the desorption driven gear 10 are interference fit, the desorption driven gear 10 and the second desorption connection gear 11 are interference fit, the desorption servo motor 13 is fixedly connected to the first positioning frame 14, the driving wheel of the desorption servo motor 13 is fixedly connected to the desorption drive gear 7, the driving servo motor 16 is fixedly connected to the second positioning frame 15, and the driving wheel of the driving servo motor 16 is fixedly connected to the clamp driving gear 5. The gear-shaped connecting member 4 is fixedly connected to the first positioning frame 14 and the second positioning frame 15 through the plane bearings 3 located above and below it, the gasket is installed between the positioning frame and the gear, and the first positioning frame 14 and the second positioning frame 15 are tightened and fixed by the first double-pass hexagonal copper column 9 and the second double-pass hexagonal copper column 12.

[0063] Example 2

[0064] The present invention provides a grasping and desorption method of an active desorption claw-type climbing robot based on nano-micro-adhesive, that is, a grasping and desorption method of an adhesion grasping robot, including an adaptive grasping and perching method and an active desorption method.

[0065] The adaptive grasping and perching method comprises the following steps:

[0066] In the first step, each driving servo motor 16 drives the gripper driving gear 5 to make the detachable flexible claw 1 in a flat state, and the first gripper of the grasping robot ( Figure 1 The detachable active detaching gripper of the fish fin-like structure on the middle A1 side is close to the movable platform to be bound, and the driving servo motor 16 of the first gripper drives the gripper driving gear 5 to close the detachable flexible gripper 1 to realize the gripping function. At this time, the grasping robot is fixed on the movable platform, and the first gripper no longer performs other actions;

[0067] In the second step, the first servo motor 18 rotates to drive the second clamping jaw ( Figure 1 The detachable active detaching clamp of the fish fin-like structure on the middle A2 side) reaches the specified height, the telescopic rod of the linear motor 20 is fixedly connected to the first linear guide 19, the linear motor 20 is fixedly connected to the second linear guide 22, the first linear guide 19 and the second linear guide 22 convert the translation of the linear motor 20 into relative rolling between the guides through the linear needle bearing 21, and realize the relative movement, so that the second clamp reaches the specified position, and the second servo motor 23 rotates to make the second clamp reach a suitable posture;

[0068] In the third step, the servo motor 16 driving the second clamping jaw drives the clamping jaw driving gear 5 to close the detachable flexible jaw 1, and the detachable flexible jaw 1 contacts the grasped object to form an envelope state, and the nano-micro-adhesive on the surface of the detachable flexible jaw 1 will adhere to the grasped object, and the grasping is stable and reliable at this time.

[0069] The active desorption method includes the following steps:

[0070] In the first step, the desorption servo motor 13 of the active desorption clamping jaw drives the desorption driving gear 7, thereby driving the first desorption connecting gear 8 and the desorption driven gear 10, and the desorption driven gear 10 drives the second desorption connecting gear 11. At this time, the end rack fixedly connected to the first desorption connecting gear 8 and the second desorption connecting gear 11 is tightened, and the adjacent magnets on the outer surface of the magnet 2 have opposite magnetic properties, and the adjacent magnets on the inner surface have opposite magnetic properties. The magnetism of a pair of magnets formed by the inner and outer surfaces is opposite, so any pair of adjacent diagonally opposite magnets has the same magnetic property, avoiding the situation of opposites attracting each other, so that the magnet 2 is separated, and the detachable flexible claw 1 of the second clamping jaw is separated from the surface of the object;

[0071] In the second step, the servo motor 16 driving the active desorption jaw drives the jaw driving gear 5 to make the detachable flexible jaw 1 in a flat state. At this point, the active desorption method of the active desorption jaw is completed.

[0072] Example 3

[0073] The present invention also provides a climbing method of an active desorption claw-type climbing robot based on nano-micro-adhesive, that is, a climbing method of an adhesive climbing robot, comprising the following process:

[0074] Step 1, starting state: each driving servo motor 16 drives the clamp driving gear 5 to make the detachable flexible claw 1 in a flat state, and each detachable flexible claw 1 is adhered to the vertical wall;

[0075] In the second step, the detachment servo motor 13 of the first clamping jaw drives the detachment driving gear 7, thereby driving the first detachment connecting gear 8 and the detachment driven gear 10, and the detachment driven gear 10 drives the second detachment connecting gear 11. At this time, the end rack fixedly connected to the first detachment connecting gear 8 and the second detachment connecting gear 11 is tightened, so that the magnet 2 is separated, and the detachable flexible jaw 1 is separated from the vertical wall;

[0076] In the third step, the first servo motor 18 rotates to separate the first clamp from the wall, the second servo motor 23 rotates to make the first clamp reach the desired direction, and the linear motor 20 performs linear motion to make the first clamp reach the specified position;

[0077] In the fourth step, the first servo motor 18 rotates to make the detachable flexible claw 1 of the first clamping jaw adhere to the wall, and the detachment servo motor 13 of the first clamping jaw rotates, so that the end rack is in a relaxed state, and the surface of the detachable flexible claw 1 is in a flat state, and the driving servo motor 16 rotates slightly, so that the angle between the pair of flexible claws is 175°. At this time, the adsorption area between the nano-micro-adhesive on the surface of the detachable flexible claw 1 and the wall is greatly increased, and the first clamping jaw can be completely adsorbed on the wall;

[0078] In the fifth step, the second clamping jaw performs the same action as in the second step to separate the detachable flexible jaw 1;

[0079] Step 6: The first servo motor 18 of the first clamping jaw rotates to separate the second clamping jaw from the wall, the linear motor 20 is compressed to drive the second clamping jaw to move upward as a whole, and the second servo motor 23 rotates to make the second clamping jaw reach the specified position;

[0080] In the seventh step, the first servo motor 18 of the first clamp rotates to make the detachable flexible claw 1 of the second clamp stick to the wall, and the detachment servo motor 13 of the second clamp rotates to make the end rack in a relaxed state, and the surface of the detachable flexible claw 1 is in a flat state. The driving servo motor 16 rotates slightly to make the angle between the pair of flexible claws 175°. At this time, the adsorption area between the nano-micro adhesive on the surface of the detachable flexible claw 1 and the wall is greatly increased, and the second clamp can be completely adsorbed on the wall. At this point, a climbing action is completed. The climbing robot repeats the above steps to achieve the overall climbing of the robot.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An active desorption claw climbing robot based on nano-micro-adhesive, characterized in that: include: A trunk part and two detachable active detaching grippers of a fish fin-like structure, the two grippers are a first gripper and a second gripper, and the first gripper and the second gripper both have active detaching, adaptive grasping and adhesion functions; The torso part includes a first driving mechanism, a second driving mechanism and a third driving mechanism, the first jaw is connected to one side of the first driving mechanism, the other side of the first driving mechanism is connected to one side of the second driving mechanism, the other side of the second driving mechanism is connected to one side of the third driving mechanism, and the other side of the third driving mechanism is connected to the second jaw; the first driving mechanism is used to enable the first jaw or the second jaw to reach a specified height or orientation, the second driving mechanism is used to enable the first jaw or the second jaw to perform linear motion, and the third driving mechanism is used to enable the first jaw or the second jaw to reach a specified position or a suitable posture.

2. The active desorption claw climbing robot based on nano-micro-adhesive according to claim 1 is characterized in that: The first clamping jaw and the second clamping jaw have the same structure, comprising a fourth driving mechanism and a detachable flexible jaw (1) connected to the fourth driving mechanism; the fourth driving mechanisms of the first clamping jaw and the second clamping jaw are respectively connected to the first driving mechanism and the third driving mechanism, and are used to realize the expansion and closing of the detachable flexible jaws (1) on both sides; and the detachable flexible jaws (1) are provided with an adsorption structure.

3. The active desorption claw climbing robot based on nano-micro-adhesive according to claim 2 is characterized in that: The fourth driving mechanism comprises a plane bearing (3), two gear-shaped connecting members (4), a clamp driving gear (5), a clamp driven gear (6), a desorption driving gear (7), a first desorption connecting gear (8), a first double-pass hexagonal copper column (9), a desorption driven gear (10), a second desorption connecting gear (11), a second double-pass hexagonal copper column (12), a desorption servo motor (13), a first positioning frame (14), a second positioning frame (15) and a driving servo motor (16); the detachable flexible claw (1) has two symmetrical claw tips, and a plurality of groups of magnets (2) are arranged at intervals on the inner and outer surfaces of the outer wall of each claw tip; The two gear-shaped connecting members (4) are respectively fixedly connected to the two claw tips of the detachable flexible claw (1), one of the gear-shaped connecting members (4) is meshedly connected to the clamping claw driving gear (5), and the other gear-shaped connecting member (4) is meshedly connected to the clamping claw driven gear (6), and the clamping claw driven gear (6) is meshedly connected to the clamping claw driving gear (5), and the first detachable connection gear (8) and the second detachable connection gear (11) are respectively connected to the end racks on both sides of the detachable flexible claw (1), and the first detachable connection gear (8) is meshedly connected to the detachable driving gear (7) meshing connection, the desorption driving gear (7) is meshingly connected with the desorption driven gear (10), the desorption driven gear (10) is meshingly connected with the second desorption connection gear (11), the desorption servo motor (13) is fixedly connected to the first positioning frame (14), the driving end of the desorption servo motor (13) is fixedly connected to the desorption driving gear (7), the driving servo motor (16) is fixedly connected to the second positioning frame (15), and the driving end of the driving servo motor (16) is fixedly connected to the clamp driving gear (5); The gear-shaped connecting member (4) is connected to a first positioning frame (14) and a second positioning frame (15) via plane bearings (3) located above and below the gear-shaped connecting member (4); the first positioning frame (14) and the second positioning frame (15) are fastened and fixed via a first double-pass hexagonal copper column (9) and a second double-pass hexagonal copper column (12); The meshing connections between gears are all interference fits.

4. The active desorption claw climbing robot based on nano-micro-adhesive according to claim 2 is characterized in that: The inner side of the detachable flexible claw (1) in contact with the object is provided with nano-micro-adhesive.

5. The active desorption claw climbing robot based on nano-micro-adhesive according to claim 1 is characterized in that: The first driving mechanism comprises a first arm connecting plate (17) and a first servo motor (18); one side of the first arm connecting plate (17) is connected to a servo motor (16) for driving the first clamping jaw, and the other side is connected to the first servo motor (18); the first servo motor (18) is connected to the second driving mechanism.

6. The active desorption claw climbing robot based on nano-micro-adhesive according to claim 1 is characterized in that: The second driving mechanism comprises a first linear guide (19), a linear motor (20), a linear needle roller bearing (21) and a second linear guide (22); the first linear guide (19) is connected to a first servo motor (18) of the first driving mechanism; the linear motor (20) is connected to the first linear guide (19) and embedded in the second linear guide (22); the linear needle roller bearing (21) is fixed in a groove of the second linear guide (22); and the second linear guide (22) is connected to a third driving mechanism.

7. The active desorption claw climbing robot based on nano-micro-adhesive according to claim 1 is characterized in that: The third driving mechanism comprises a second servo motor (23) and a second arm connecting plate (24), wherein the second servo motor (23) is connected to a second linear guide rail (22) of the second driving mechanism, and one side of the second arm connecting plate (24) is connected to the second servo motor (23), and the other side is connected to a servo motor (16) for driving the second clamping jaw.

8. A grasping method of an active desorption claw-type climbing robot based on nano-micro-adhesive as claimed in any one of claims 1 to 7, characterized in that: The steps include: Step 1: Each driving servo motor (16) drives the clamp driving gear (5) to make the detachable flexible claw (1) in a flat state, and the first clamp is brought close to the movable platform to be bound. The driving servo motor (16) of the first clamp drives the clamp driving gear (5) to close the detachable flexible claw (1) to achieve the clamping function. At this time, the climbing robot is fixed on the movable platform, and the first clamp no longer performs other actions; Step 2: The first servo motor (18) rotates to drive the second clamping jaw to reach a specified height, the linear motor (20) performs telescopic movement to make the second clamping jaw reach a specified position, and the second servo motor (23) rotates to make the second clamping jaw reach a suitable posture; Step 3: The servo motor (16) driving the second clamping jaw drives the clamping jaw driving gear (5) to close the detachable flexible jaw (1), and the detachable flexible jaw (1) contacts the grasped object to form an envelope state, and the nano-micro-adhesive on the surface of the detachable flexible jaw (1) adheres to the grasped object, and the grasping is stable and reliable.

9. An active desorption method of a claw-type climbing robot based on active desorption of nano-micro-adhesive according to any one of claims 1 to 7, characterized in that: The steps include: Step 1: The desorption servo motor (13) of the active desorption clamping jaw drives the desorption driving gear (7), thereby driving the first desorption connecting gear (8) and the desorption driven gear (10), and the desorption driven gear (10) drives the second desorption connecting gear (11). At this time, the end rack fixedly connected to the first desorption connecting gear (8) and the second desorption connecting gear (11) is tightened, so that the magnet (2) is separated, and the detachable flexible claw (1) of the second clamping jaw is separated from the surface of the object; Step 2: The servo motor (16) for driving the active desorption jaw drives the jaw driving gear (5) to make the detachable flexible jaw (1) in a flat state; at this point, the active desorption method of the active desorption jaw is completed.

10. A climbing method of an active desorption gripper-type climbing robot based on nano-micro-adhesive as claimed in any one of claims 1 to 7, characterized in that: The steps include: S1, starting state: each driving servo motor (16) drives the clamp driving gear (5) to make the detachable flexible claw (1) in a flat state, and each detachable flexible claw (1) is adhered to the vertical wall; S2, the detachment servo motor (13) of the first clamping jaw drives the detachment driving gear (7), thereby driving the first detachment connecting gear (8) and the detachment driven gear (10), and the detachment driven gear (10) drives the second detachment connecting gear (11), at which time the end rack fixedly connected to the first detachment connecting gear (8) and the second detachment connecting gear (11) is tightened, so that the magnet (2) is separated, and at this time the detachable flexible jaw (1) is separated from the vertical wall; S3, the first servo motor (18) rotates to separate the first clamping jaw from the wall, the second servo motor (23) rotates to make the first clamping jaw reach the desired direction, and the linear motor (20) performs linear motion to make the first clamping jaw reach the specified position; S4, the first servo motor (18) rotates to make the detachable flexible claw (1) of the first clamping claw adhere to the wall surface, the detachment servo motor (13) of the first clamping claw rotates to make the end rack in a relaxed state, the surface of the detachable flexible claw (1) in a flat state, and the driving servo motor (16) rotates to make the angle between the two claw tips of the detachable flexible claw (1) be 170°, at this time, the adsorption area between the nano-micro adhesive on the surface of the detachable flexible claw (1) and the wall surface increases, and the first clamping claw is completely adsorbed on the wall surface; S5, the second clamping jaw performs the same action as step S2, completing the separation of the detachable flexible jaw (1) of the second clamping jaw; S6, the first servo motor (18) of the first clamping jaw rotates to separate the second clamping jaw from the wall, the linear motor (20) extends and retracts to drive the second clamping jaw to move as a whole, and the second servo motor (23) rotates to make the second clamping jaw reach a specified position; S7, the first servo motor (18) of the first clamping jaw rotates to make the detachable flexible claw (1) of the second clamping jaw adhere to the wall, the detachment servo motor (13) of the second clamping jaw rotates to make the end rack in a relaxed state, the surface of the detachable flexible claw (1) in a flat state, and the driving servo motor (16) rotates slightly to make the angle between the two claw tips of the detachable flexible claw (1) at 170°. At this time, the adsorption area between the nano-micro adhesive on the surface of the detachable flexible claw (1) and the wall is greatly increased, and the second clamping jaw can be completely adsorbed on the wall. At this point, a climbing action is completed; repeat steps S1 to S7 to achieve the overall climbing of the robot.

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