An active desorption claw climbing robot based on nano-micro-adhesive and a grasping, desorption and climbing method

Abstract

The present invention provides an active desorption gripper-type climbing robot based on nano-micro-adhesive and a grasping, desorption and climbing method. The robot comprises a trunk and two detachable active desorption grippers with a fish-fin-like structure. The two grippers are a first gripper and a second gripper, and both the first gripper and the second gripper have active desorption, adaptive grasping and adhesion functions. The trunk comprises a first drive mechanism, a second drive mechanism and a third drive mechanism. Based on this structure, the fixed connection method between the outer crossbeam and the longitudinal beam of the adaptive gripper is changed to a magnetic adsorption connection method, thereby realizing adaptive adhesion / grasping and active desorption functions. In combination with the trunk, autonomous climbing motion is realized. In addition, the climbing robot can "perch" on any object or the body of another climbing robot, complete the mobile grasping motion after "perching", expand the overall robot's range of motion and usage scenarios, and improve the robot's adaptability on different platforms.

Description

Technical Field

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

[0002] Dry-adhesion climbing robots can navigate vertical walls and inverted surfaces, performing challenging and dangerous tasks, and have broad application prospects across multiple industries. Compared to magnetic, electrostatic, and negative pressure adsorption methods, dry-adhesion climbing robots adhere to surfaces through external forces, requiring no additional energy input.

[0003] The fin-like gripper achieves adaptive gripping by simulating the motion of a fish fin. By mimicking the fin's flexibility, it increases the contact area with the object being grasped. When the fin-like flexible gripper contacts a workpiece, the pressure causes the structure's sides to flex, bending the base and tip in the direction of the applied load. This creates an enveloping effect around the workpiece, improving grip stability.

[0004] Existing grippers with fin-like structures primarily provide passive adaptive grasping. Adding dry adhesive material to the gripper prevents active detachment from the surface, resulting in excessive detachment forces and impacting the robot's stability. Therefore, it is necessary to design a new active detachment gripper that not only enables adaptive grasping but also achieves both adaptive adhesion and active detachment. This, combined with rotating and moving joints, allows for autonomous climbing on both vertical and inverted surfaces.

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

[0006] In response 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 in the present invention are as follows:

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

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

[0010] Furthermore, the first clamping jaw and the second clamping jaw have the same structure, including a fourth driving mechanism and a detachable flexible clamping jaw connected to the fourth driving mechanism. The fourth driving mechanism of the first clamping jaw and the second clamping jaw are respectively connected to the first driving mechanism and the third driving mechanism, for realizing the expansion and closing of the detachable flexible clamping jaws on both sides; the detachable flexible clamping jaws are provided with an adsorption structure.

[0011] Furthermore, the fourth driving mechanism includes a plane bearing, two gear-shaped connecting members, a clamping claw driving gear, a clamping claw driven gear, a desorption driving gear, a first desorption connection gear, a first double-pass hexagonal copper column, a desorption driven gear, a second desorption connection 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, 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;

[0012] The two gear-shaped connecting members are respectively fixedly connected to the two claw tips of the detachable flexible claws, one of the gear-shaped connecting members is meshed with the clamping claw driving gear, and the other gear-shaped connecting member is meshed with the clamping claw driven gear, the clamping claw driven gear is meshed with 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 meshed with the detachment drive gear, the detachment drive gear is meshed with the detachment driven gear, the detachment driven gear is meshed with 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 it, and the first positioning frame and the second positioning frame are tightened and fixed by a first double-pass hexagonal copper column and a second double-pass 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 servo motor for driving the first clamping jaw, 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 roller 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 roller bearing is fixed in the groove of the second linear guide, and the second linear guide is connected to the third driving mechanism.

[0018] Furthermore, the third drive 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 drive 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, comprising the following steps:

[0020] Step 1: Each driving servo motor drives the gripper drive gear to flatten the detachable flexible claw. The first gripper is brought close to the movable platform to be bound. The driving servo motor of the first gripper drives the gripper drive gear to close the detachable flexible claw to achieve the gripping function. At this time, the climbing robot is fixed on the movable platform, and the first gripper no longer moves.

[0021] Step 2: The first servo motor rotates to drive the second gripper to 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 gripper drives the gripper drive gear to close the detachable flexible gripper. The detachable flexible gripper contacts the object to be grasped, forming an envelope state, and the nano-micro-adhesive on the surface of the detachable flexible gripper adheres to the object to be grasped. At this time, the grasping is stable and reliable.

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

[0024] Step 1: The detachment servo motor of the active detachment gripper drives the detachment drive gear, thereby driving the first detachment connection gear and the detachment driven gear. The detachment driven gear drives the second detachment connection gear. At this time, the end rack fixedly connected to the first detachment connection gear and the second detachment connection gear is tightened, so that the magnets are separated. At this time, the detachable flexible claw of the active detachment gripper is separated from the surface of the object;

[0025] Step 2: The servo motor driving the active desorption gripper drives the gripper drive gear to make the detachable flexible gripper in a flat state; at this point, the active desorption method of the active desorption gripper 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. Initial state: Each driving servo motor drives the gripper driving gear to make the detachable flexible claw flat, 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 magnets are separated, and the detachable flexible jaw is separated from the vertical wall;

[0029] S3: The first servo motor rotates to separate the first gripper from the wall, the second servo motor rotates to move the first gripper to the desired direction, and the linear motor performs linear motion to move the first gripper to 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, and the detachment servo motor of the first clamping jaw rotates so that the end rack is in a relaxed state and the surface of the detachable flexible claw is in a flat state. The driving servo motor rotates so that the angle between the two claw tips of the detachable flexible claw is 170 degrees. 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 claw of the second clamping jaw;

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

[0033] S7. The first servo motor of the first gripper rotates to make the detachable flexible claw of the second gripper adhere to the wall. The detachment servo motor of the second gripper rotates to make the end rack relaxed and the surface of the detachable flexible claw flat. The driving servo motor rotates slightly to make the angle between the two claw tips of the detachable flexible claw 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 gripper 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 magnetic adsorption connection method, thereby improving the shortcoming that the current adaptive gripper cannot actively desorb, and realizing an adaptive gripper with active desorption capability.

[0036] 2. This invention provides a climbing robot with adaptive grasping and perching capabilities. Based on a nano-micro-adhesive active-desorption gripper structure, it can adaptively grasp irregular objects, improving the gripping capability of the gripper. Furthermore, the climbing robot can "perch" on any object or other climbing robot, completing a mobile grasping motion after "perching." This achieves adaptive grasping and perching capabilities.

[0037] 3. Based on this, the present invention can also be used as an independent climbing robot to achieve autonomous climbing on smooth adhesive surfaces. The two adaptive grippers at the end actively adhere to and detach from the climbing surface, combined with the telescopic motion of the linear motor, achieve autonomous climbing.

[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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any 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 in a specific embodiment of the present invention.

[0043] Figure 4 A side view of a detachable active desorption jaw portion provided for an 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 part; 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 and features of the embodiments of the present invention 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 in no way 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 making 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 the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0049] Unless otherwise specified, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, 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 actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods 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 the exemplary embodiments can have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, and therefore, once an 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 should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying 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 outline 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 herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. 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 figures. For example, if the device in the 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. Unless 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] This invention provides a passive grasping and active desorption method based on a fish-fin-like structure. Based on this method, a novel active desorption gripper was designed that not only enables passive adaptive grasping but also actively adheres to and desorbs from walls. Based on this, an active desorption gripper-type climbing robot based on nano-micro-adhesive was developed, capable of autonomously climbing vertical and inverted surfaces. This invention not only improves the adaptability and flexibility of the gripping robot in grasping objects, but also expands the robot's range of motion and application scenarios based on its climbing performance.

[0054] The present invention discloses an active desorption claw climbing robot based on nano-micro-adhesive, comprising a trunk portion, two pairs of detachable active desorption claws with a fish-fin-like structure mounted on a connecting plate of the trunk portion, the two claws being a first claw and a second claw 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 with a fish-fin-like structure, a magnet, nano-micro-adhesive, a gasket, and the like. The two servo motors are respectively fixedly connected to the upper and lower positioning frames, the claw driving gear is fixedly 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 fixedly 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 fixedly connected to the flexible claw. The desorption drive gear is fixedly connected to the servo motor, the desorption driven gear cooperates with the desorption drive 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 fixedly connected to the servo motor in the above-mentioned clamp and the servo motor in the trunk part respectively, the first linear guide is fixedly connected to the driving wheel of the servo motor coaxially, the second linear guide is fixedly connected to the driving wheel of another servo motor coaxially, the linear motor is built into the second linear guide, and the linear needle bearings are distributed around the second linear guide. This invention replaces the fixed connection between the outer crossbeam and longitudinal beam of the adaptive gripper with a magnetic connection, achieving both adaptive adhesion / grasping and active detachment. Furthermore, the robot's trunk allows for autonomous climbing. Furthermore, the robot can "perch" on any object or other climbing robot, completing a mobile grasping motion after perching. This expands the robot's overall range of motion and usage scenarios, improving its adaptability to 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: The two gripper surfaces with nano-adhesive glue are attached to the vertical wall, and the other motors do not move.

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

[0058] In the third step, the servo motor of the second gripper drives the desorption drive gear, which drives the desorption connection gear, causing the desorption rack belt of the gripper to shrink, thereby gradually reducing the adhesion area. At this time, the first servo motor of the trunk part rotates to drive the second gripper 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 gripper drives the desorption drive gear to rotate, and the gripper drive gear maintains the current position, so that the gripper maintains 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 a nano-micro-adhesive active-desorption gripper-type climbing robot, specifically a climbing robot with a detachable fin-like gripping and desorption module. The robot comprises a trunk and two detachable fin-like active-desorption grippers. The two grippers are driven by servo motors 16 fixedly connected to a first arm connecting plate 17 and a second arm connecting plate 24, respectively.

[0061] The trunk portion includes a first arm connecting plate 17, a first servo motor 18, a first linear guide 19, a linear motor 20, a linear needle roller 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 drive plate of the first servo motor 18. The linear motor 20 is embedded in the second linear guide 22, and the linear needle roller bearing 21 is fixed in a groove in the second linear guide 22, thereby enabling 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 clamping jaw of the fish fin-like structure includes a detachable flexible clamping jaw 1, a magnet 2, a plane bearing 3, a gear-shaped connector 4, a clamping jaw driving gear 5, a clamping jaw 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 connector 4 is fixedly connected to the detachable flexible claw 1 through a hard plastic plate. One gear-shaped connector 4 is interference fit with the clamping claw driving gear 5. The other gear-shaped connector 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 and the second detachable connection gear 11 are fixedly connected to the end rack (detachable rack belt) of the detachable flexible claw 1 (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 drive wheel of the desorption servo motor 13 is fixedly connected to the desorption drive gear 7, the drive servo motor 16 is fixedly connected to the second positioning frame 15, and the drive wheel of the drive servo motor 16 is fixedly connected to the clamp drive 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 gripper-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 includes 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 (with a fish-fin-like structure) on the middle A1 side approaches the movable platform to be bound. The servo motor 16 driving the first gripper drives the gripper drive gear 5 to close the detachable flexible gripper 1, thus achieving the gripping function. At this time, the grasping robot is fixed on the movable platform, and the first gripper no longer performs any 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 gripper of the fish-fin-like structure on the middle A2 side reaches a specified height, the telescopic rod of the linear motor 20 is fixedly connected to the first linear guide 19, and 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, thereby achieving relative motion, so that the second gripper reaches the specified position, and the second servo motor 23 rotates to make the second gripper reach the appropriate 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. The detachable flexible jaw 1 contacts the object to be grasped, forming an envelope state, and the nano-micro-adhesive on the surface of the detachable flexible jaw 1 will adhere to the object to be grasped. At this time, the grasping is stable and reliable.

[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 composed of the inner and outer surfaces is opposite, so any pair of adjacent diagonally opposite magnets has the same magnetic property, avoiding the situation where opposite poles attract 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 for driving the active desorption clamping jaw drives the clamping jaw driving gear 5 to flatten the detachable flexible jaw 1. At this point, the active desorption method of the active desorption clamping jaw is completed.

[0072] Example 3

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

[0074] Step 1, starting state: each driving servo motor 16 drives the clamp driving gear 5 to make the detachable flexible claw 1 flat, 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. 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. At this time, 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 clamping jaw from the wall, the second servo motor 23 rotates to move the first clamping jaw to the desired direction, and the linear motor 20 performs linear motion to move the first clamping jaw to 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. The servo motor 13 for desorption 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. The driving servo motor 16 rotates slightly to make the angle between the pair of flexible claws 175 degrees. 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 compresses to move the second clamping jaw upward. The second servo motor 23 rotates to move the second clamping jaw to the specified position.

[0080] In the seventh step, the first servo motor 18 of the first gripper rotates, causing the detachable flexible claw 1 of the second gripper to adhere to the wall. The detachment servo motor 13 of the second gripper rotates, causing the end rack to relax and the surface of the detachable flexible claw 1 to be flat. The driving servo motor 16 rotates slightly, causing the angle between the pair of flexible claws to be 175°. This greatly increases the adsorption area between the nano-micro adhesive on the surface of the detachable flexible claw 1 and the wall, allowing the second gripper to fully adhere to the wall, thus completing the climbing action. The climbing robot repeats these steps to achieve overall climbing.

[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 above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above 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: The trunk part and two detachable active detachment 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 detachment, adaptive grasping and adhesion functions; The trunk portion includes a first drive mechanism, a second drive mechanism, and a third drive mechanism, wherein the first clamping jaw is connected to one side of the first drive mechanism, the other side of the first drive mechanism is connected to one side of the second drive mechanism, the other side of the second drive mechanism is connected to one side of the third drive mechanism, and the other side of the third drive mechanism is connected to the second clamping jaw; the first drive mechanism is used to enable the first clamping jaw or the second clamping jaw to reach a specified height or orientation, the second drive mechanism is used to enable the first clamping jaw or the second clamping jaw to perform linear motion, and the third drive mechanism is used to enable the first clamping jaw or the second clamping jaw to reach a specified position or a suitable posture; The first clamping jaw and the second clamping jaw have the same structure, comprising a fourth drive mechanism and a detachable flexible jaw (1) connected to the fourth drive mechanism. The fourth drive mechanisms of the first clamping jaw and the second clamping jaw are respectively connected to the first drive mechanism and the third drive mechanism, and are used to realize the expansion and closing of the detachable flexible jaws (1) on both sides; the detachable flexible jaws (1) are both provided with an adsorption structure; 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), wherein 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 connected to the detachable driving gear (7) meshing connection, the desorption drive 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 drive 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 clamping claw driving gear (5); The gear-shaped connecting member (4) is connected to the first positioning frame (14) and the 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 tightened 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.

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

3. The active desorption claw climbing robot based on nano-micro-adhesive according to claim 1 is characterized in that: The first drive 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 the servo motor (16) for driving the first clamping jaw, and the other side is connected to the first servo motor (18), and the first servo motor (18) is connected to the second drive mechanism.

4. 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 rail (19), a linear motor (20), a linear needle roller bearing (21) and a second linear guide rail (22), wherein the first linear guide rail (19) is connected to the first servo motor (18) of the first driving mechanism, the linear motor (20) is connected to the first linear guide rail (19) and embedded in the second linear guide rail (22), the linear needle roller bearing (21) is fixed in a groove of the second linear guide rail (22), and the second linear guide rail (22) is connected to the third driving mechanism.

5. The active desorption claw climbing robot based on nano-micro-adhesive according to claim 1 is characterized in that: The third driving mechanism includes a second servo motor (23) and a second arm connecting plate (24), wherein the second servo motor (23) is connected to the 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 the servo motor (16) for driving the second clamping jaw.

6. A grasping method for an active desorption claw-type climbing robot based on nano-micro-adhesive according to any one of claims 1 to 5, characterized in that: The steps include: Step 1: Each driving servo motor (16) drives the gripper driving gear (5) to make the detachable flexible claw (1) flat, and the first gripper is brought close to the movable platform to be bound. The driving servo motor (16) of the first gripper drives the gripper driving gear (5) to close the detachable flexible claw (1), thereby realizing the gripping function. At this time, the climbing robot is fixed on the movable platform, and the first gripper no longer performs other actions. Step 2: The first servo motor (18) rotates to drive the second clamping jaw to 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 gripper drives the gripper drive gear (5) to close the detachable flexible gripper (1), and the detachable flexible gripper (1) contacts the grasped object to form an envelope state, and the nano-micro-adhesive on the surface of the detachable flexible gripper (1) adheres to the grasped object, and the grasping is stable and reliable.

7. An active desorption method for a nano-micro-adhesive active desorption claw-type climbing robot according to any one of claims 1 to 5, 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 at this time 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 clamping jaw drives the clamping 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 clamping jaw is completed.

8. A climbing method for an active desorption claw-type climbing robot based on nano-micro-adhesive according to any one of claims 1 to 5, 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 claw 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 claw (1) is separated from the vertical wall; S3, the first servo motor (18) rotates to separate the first clamp from the wall, the second servo motor (23) rotates to move the first clamp to the desired direction, and the linear motor (20) performs linear motion to move the first clamp to the designated position; S4, the first servo motor (18) rotates to make the detachable flexible claw (1) of the first clamping claw adhere to the wall, 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 increases, and the first clamping claw is completely adsorbed on the wall; S5, the second clamping jaw performs the same action as step S2, completing the separation of the detachable flexible claw (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 gripper rotates to make the detachable flexible claw (1) of the second gripper adhere to the wall, the detachment servo motor (13) of the second gripper rotates to make the end rack in a relaxed state, the surface of the detachable flexible claw (1) in a flat state, 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, the second gripper can be completely adsorbed on the wall, and a climbing action is completed; repeat steps S1 to S7 to achieve the overall climbing of the robot.

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