CN101890988B - Adhesive toe for gecko robot and movement method thereof - Google Patents

Abstract

The invention relates to a robot imitating gecko sticking toes and a movement method thereof, belonging to the application field of bionic robot technology. The toe includes a flexible material toe base (c), an adhesive material layer (a) embedded in the flexible material toe base (c), and the lower bottom surface of the above-mentioned adhesive material layer (a) is higher than the lower bottom surface of the flexible material toe base (c). Consistent; a spring layer (b) is also provided above the flexible material toe base (c). The toes have three specific structures, which are respectively flat plate, semi-arc, and arched three-dimensional structure bent 180 degrees. Based on its special cantilever structure characteristics, the invention adopts a passive driving method, which can provide the characteristics of a large adhesion force in one direction and a small detachment force in the opposite direction, and can completely simulate the large adhesion of geckos in one direction This kind of mechanical anisotropy characteristic of the force and the small detachment force in the opposite direction is applied to the gecko-like robot.

Description

A robot imitating gecko sticking toes and its movement method

technical field

The invention belongs to the application field of bionic robot technology, and in particular relates to a structural design of a gecko-like toe and a method for using the same, which is mainly used in the design of the feet of a gecko-like wall-climbing robot to realize wall-climbing motion. the

Background technique

Large geckos can move freely and flexibly on different normal surfaces such as the ground, steep walls, and ceilings. The gecko's ability to move has become an object of research and imitation by scientists. Wall-climbing robots can work on dangerous and steep vertical surfaces, and have a wide range of applications in the fields of building outer wall cleaning, ship inspection, and aerospace extravehicular maintenance, so they are valued by various developed countries. Like a gecko, a gecko-like crawling robot that can crawl on vertical walls and ceilings is one of the most advanced hot issues in bionic robots in the world. Adsorption technology is the core technology for gecko-like robots to achieve wall climbing. After years of research and development at home and abroad, the existing wall-climbing robots mainly include magnetic adsorption and negative pressure adsorption methods in terms of adsorption methods. Here is an introduction to the research status of this technology and related fields and the advantages and disadvantages of the test prototype:

(1) A gecko-like quadruped crawling robot capable of ground-wall transition developed by the Institute of Robotics, Beihang University (Patent No.: CNI01353064A). The robot adopts a four-legged crawling method, which is composed of a mechanical part and a circuit part. The mechanical part is composed of a body and limbs. It is divided into front and rear parts, which are completely symmetrical. The two parts are connected by a moving pair. The adhesion method adopted by the robot is active electromagnetic adsorption. Electromagnetic adsorption is to adsorb on the attachment surface through magnetic force, and the adsorption force is strong, but it requires the attachment surface to be magnetically conductive. And the robot needs to supply power to the electromagnet during the movement process, which requires a lot of power supply for the robot. the

(2) The patent imitation gecko miniature robot (patent number: CN 1947959A) applied by Professor Wang Liquan of Harbin Engineering University adopts the active vacuum adsorption method. The mechanical structure includes a bionic gecko single-leg structure, a gecko-like robot body assembly structure, and a negative pressure adsorption and pressure release device. The bionic gecko single-leg is composed of a thigh, a calf and a suction cup. The single leg is driven by three steering gears, and the body structure includes two waist-driven steering gears, two air pumps, two gas pressure relief devices, two four-way air pipe joints and six plastic conductor tubes. The vacuum adsorption method not only has a complex and unstable adsorption structure, but also has relatively large limitations on the environment because the adsorption method requires the attachment surface to be flat and easy to seal. the

Based on the dry adhesion method, the research team of Stanford University professor Mark Kutkowski developed the gecko robot Stickybot (Daltorio, 2005; Carlo Menon, 2004). The robot can imitate the gecko in terms of structure and adsorption method. The soles of the feet have artificial setae made of elastic materials, and each setae can "attach" the wall by using molecular force, namely the famous van der Waals force. These tiny polymer fur pads ensure a large contact area between the sole of the foot and the wall, thereby maximizing van der Waals' stickiness. However, the manufacturing process of the adhesive material is difficult and the manufacturing cost is high. At present, the adsorption capacity of dry adhesion is still much lower than that of real geckos, and it is difficult to process but easy to wear. At the same time, the robot rotates the steering gear of the foot to drive the cable to realize the detachment and adhesion of the foot. This active adhesion method requires an additional wire-drawing mechanism and an independent wire-drawing drive motor, which increases the complexity of the system when implemented. the

Traditional adhesive materials, because the same adhesive material has the same adhesive performance, the adhesion and detachment force are constant when directly applied, that is, the same magnitude of adhesion and the same magnitude of detachment will occur (It may lead to inability to detach after sticking, or it may not cause sticking at all at the beginning), which is not conducive to simulating the characteristics of gecko that has a large adhesion force in one direction and a small detachment force in the opposite direction. the

The above-mentioned active driving wall climbing method increases the complexity and energy consumption of the system, and the adhesion and desorption forces of magnetic adsorption and negative pressure adsorption are constant, which cannot completely simulate the gecko with a large adhesion force in one direction and a strong adhesion force in the other direction. Orientation has the characteristic of less desorption force. the

Contents of the invention

The object of the present invention is to provide a robot imitation gecko adhesion toe and its movement method, the imitation gecko toe can be applied to the sole design and motion realization of the imitation gecko crawling robot sticking on the smooth surface, according to its special cantilever structure Features, adopting the passive driving method, it can provide the characteristics of a large adhesion force in one direction and a small detachment force in the opposite direction, and can completely simulate the large adhesion force in one direction of the gecko and the small detachment force in the opposite direction. This kind of mechanical anisotropy characteristic is applied in the imitation gecko robot. the

Option One:

A kind of robot imitation gecko adhesion toe, it is characterized in that: the whole toe is planar shape; The height of the bottom surface is consistent; there is also a spring layer on the flexible material toe base, and the front and rear ends of the spring layer are respectively fixed with the front and rear ends of the flexible material toe base; the above-mentioned flexible material toe base has no sticky material at the tip of the toe and the heel of the toe

Due to its special cantilever structure, it is beneficial to overcome the resistance of a small detachment force to achieve detachment, and has the characteristics of a small detachment force; at the same time, after the toe is adhered, it is applied in a direction parallel to the adhesion surface When the force is applied, it can generate greater adhesion, so it has the characteristics of greater adhesion. It can meet the requirements of a large adhesion force in one direction and a small detachment force in the opposite direction, and can completely simulate the mechanical anisotropy characteristics of a gecko with a large adhesion force in one direction and a small detachment force in the opposite direction. . the

The motion method of above-mentioned robot imitation gecko adhesion toe is characterized in that: (1), drive toe root to realize the motion of X and Y direction; (2), toe adhesion process, comprises the following steps: toe and adhesion smooth surface At a certain angle, the tip of the toe is in contact with the smooth surface first; after contact starts, the base of the toe moves toward the smooth surface, and the movement of the base of the toe proceeds along an arc-shaped trajectory protruding toward the tip of the toe. The vicinity of the toe root provides the main adhesive force; the curvature of the above-mentioned arc trajectory affects the maximum adhesive force. The adhesion characteristics of the adhesive material are obtained from experimental tests, and the trajectory that can provide greater adhesive force is selected according to the needs of engineering applications. (3), the detachment process of the toe, comprises the following steps: at the initial stage, the toe root is obliquely upward and forward to form a certain angle, so that the toe root is first desorbed; The entire toe is gradually detached; the curvature of the above-mentioned arc track affects the maximum detachment force, the adhesion characteristics of the adhesive material are obtained according to experimental tests, and the trajectory that can provide a small detachment force is selected according to the needs of engineering applications. the

The arc-shaped trajectory of the above-mentioned adhesion will greatly affect the size of the maximum adhesion force, and the arc-shaped trajectory of desorption will also affect the size of the maximum desorption force. And the trajectory of the small desorption force. The material of the adhesion function of the plate-shaped adhesive toe in the adhesion process is mainly distributed in the middle of the adhesive toe near the root of the toe. the

Option II::

A robot imitating a gecko to adhere to a toe is characterized in that: the toe is in a semi-arc shape as a whole; the toe includes a flexible material toe base, an adhesive material layer embedded in the flexible material toe base, and the lower bottom surface of the above-mentioned adhesive material layer is in contact with the flexible material toe The height of the lower bottom surface of the base is consistent; a spring layer is also arranged on the flexible material toe base, and the front end and rear end of the spring layer are respectively fixed with the front end and rear end of the flexible material toe base; Layer front to back length; flexible material toe base arched over spring layer; said flexible material toe base free of sticky material at toe tip and toe heel. the

Based on the above-mentioned similar cantilever structure characteristics, it also has a large adhesion force and a small detachment force in the opposite direction. Due to the semi-arc structure, the spring layer deforms greatly during the adhesion process, which increases the pre-tension force of the spring. Finally, it helps to overcome the smaller detachment force, so as to better meet the requirements of having a larger adhesion force in one direction and a smaller detachment force in the opposite direction, and can completely simulate the larger adhesion force and This mechanical anisotropy characterizes the smaller desorption force in the opposite direction. the

The motion method of above-mentioned robot imitation gecko adhesion toe is characterized in that: (1), drive toe root to realize the motion of X and Y direction; (2), toe adhesion comprises following three kinds of modes, according to actual required adhesion Select the corresponding method for the force: (2-1), the toe starts to contact in parallel with the adhered smooth surface, and the root of the toe moves to the smooth surface after the contact. This method provides the main adhesive force in the middle part of the toe; (2- 2) The toes start to contact with the sticking smooth surface at a certain angle, so that the front end of the toe contacts first, and then the root of the toe moves toward the smooth surface after contact. This method provides the main adhesive force at the middle and rear ends of the toe; (2-3 ), in the case of mode (2-1) or mode (2-2), there is a back-and-forth movement process when the base of the toe moves to the smooth surface, and this mode provides adhesion at the front, middle and rear ends of the toe (3), the detachment of the toe includes the following process: at the initial stage, the toe root is obliquely upward and forward to form a certain angle, so that the toe root is detached first; Gradual desorption; the bending degree of the above-mentioned arc trajectory affects the maximum desorption force. The adhesion characteristics of the adhesive material are obtained according to the experimental test, and the motion trajectory that can provide a small desorption force is selected according to the needs of engineering applications. the

Due to the flexible characteristics of the semi-curved toe structure, when adhered according to the method (2-1), the total adhesive force is relatively small because the middle part of the toe provides the main adhesive force; according to the method (2-2) When sticking, because the middle and rear parts of the toes provide the main adhesion force, the overall adhesion force is relatively moderate; when sticking according to the method (2-3), because the front, middle and back parts of the toes provide the main adhesion force Therefore, the total adhesion force is relatively large; the semi-arc structure increases the pre-tension force of the spring, and moves forward in a certain arc-shaped trajectory to gradually detach the entire toe; the selection of the above-mentioned adhesion and detachment methods can be based on Actual engineering requires selection. the

third solution:

A robot imitating a gecko to adhere to a toe is characterized in that: the toe has an arched three-dimensional structure bent 180 degrees as a whole, and the arched structure is sequentially composed of a spring layer and a flexible material toe base from the inside to the outside, and the flexible material toe base is connected to the spring layer The end fixing device is fixed at the heel of the toe; the base of the flexible material toe is also embedded with an adhesive material layer; and the outer surface of the adhesive material layer is on the same curved surface as the outer surface of the base of the flexible material toe; the flexible material toe The base is free of sticky material at the toe and heel. the

Based on the above-mentioned similar cantilever structure characteristics, it also has a large adhesion force and a small detachment force in the opposite direction. Due to the full arc structure, the spring layer deforms more during the adhesion process, which greatly increases the spring force. After pre-tensioning, it helps to overcome the smaller detachment force, and better meet the requirements of having a larger adhesion force in one direction and a smaller detachment force in the opposite direction, and can completely simulate the larger adhesion force of geckos in one direction And this mechanical anisotropy characteristic of smaller desorption force in the opposite direction. Combined with the adhesive material on the bottom layer and the top layer of the full arc structure, the adhesion in the front and rear directions can be realized respectively, and the movement track that requires a certain direction of the adhesion force can be selected according to the actual working conditions. the

The motion method of above-mentioned robot imitation gecko adhesion toe is characterized in that: (1), drive the toe root to realize the motion of X and Y direction; (2), toe adhesion comprises following two ways, select corresponding Method: (2-1), the toes are perpendicular to the adhered smooth surface, so that the part of the toe tip without the adhesive material contacts the smooth surface first, and the toe root moves obliquely backward to the smooth surface after contact. The bottom adheres to the smooth surface, and the direction of the total adhesive force is backward; (2-2), the toes are perpendicular to the adhered smooth surface, so that the part of the toe with no adhesive material contacts the smooth surface first, and then The root of the toe moves obliquely forward to the smooth surface. In this way, the top of the toe adheres to the smooth surface, and the total adhesion direction is forward; (3). The toe detachment process includes the following two methods. Method: (3-1). If the method (2-1) is adopted in the toe adhesion process, the toe root will form a certain angle upward and forward at the initial stage, so that the toe root will detach first; after the toe begins to detach, the toe root will Move forward in a certain arc-shaped trajectory to gradually detach the entire toe, and the total detachment force moves forward; (3-2). Make a certain angle backwards, so that the base of the toe is detached first; after the toe begins to detach, the base of the toe moves backward in a certain arc-shaped trajectory to gradually detach the entire toe, and the total detachment force moves forward; the bending of the above-mentioned arc-shaped trajectory The degree of influence affects the maximum detachment force. The adhesion characteristics of the adhesive material are obtained according to experimental tests. According to the needs of engineering applications, the trajectory that can provide a small detachment force is selected. the

Since the full-arc toe structure has the bottom layer and the top layer of adhesion surface, when adhered according to the method (2-1), since the bottom of the toe provides the main adhesion force, the direction of the total adhesion force is backward at this time; according to the method (2-1) 2-2) When sticking, since the top of the toe provides the main sticking force, the direction of the total sticking force is forward; The direction is opposite to the direction of the desorption force; the selection of the above-mentioned adhesion and desorption methods can be selected according to actual engineering needs. the

Comparing the above three schemes, the experiment shows that when sticking and desorbing according to scheme one, the adhesion force is relatively moderate, and the desorption force is relatively moderate; according to (2-1), (2-2) and (2-2) in scheme two 3) The adhesion force is relatively medium, large and maximum when the method is adhered, and the desorption force is relatively small when desorbing according to the second method; The adhesion force is relatively moderate, and the desorption force is relatively minimal when desorbing according to the methods (3-1) and (3-2) in scheme three. the

The spring layers of the above schemes 1, 2, and 3 can be a spring bent at 180 degrees; and after the spring is bent, the two ends are merged and then fixed with the base of the toe of the flexible material by the end fixing device. The function of the spring is to provide a small amount of stiffness, so it can also be implemented by using a general steel sheet (such as a small amount of stiffness), and a steel sheet with a suitable stiffness can be selected according to the working conditions to meet the actual needs. the

Therefore, the adherent toes exhibit different structures, and different adhesion and detachment performance requirements can be achieved by combining different adhesion and detachment movements. the

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

1. The present invention can simulate the anisotropic characteristics of the adhesion force of the gecko toes (one direction has a larger adhesion force and the opposite direction has a smaller detachment force), and provides important mechanics for the motion experiment of the imitation gecko wall-climbing robot test environment. the

2. The adhesive toe of the present invention has the advantages of simple structure, clear working principle, convenient processing and economical feasibility. the

3. The adhesive toe of the present invention is small in size and light in weight, meets the structural design requirements of the gecko-like wall-climbing robot, and provides necessary equipment guarantee for the gecko-like wall-climbing robot to realize wall-climbing motion. the

4. The adhesive toe of the present invention belongs to the passive type (no active driving mode) adhesion mode, which is different from the traditional magnetic adsorption, negative pressure adsorption mode, etc., which reduces the equipment requirements and energy consumption for active driving, and reduces the climbing force. The control difficulty of the wall motion is helpful for the integrated design of the robot structure. the

Description of drawings

Fig. 1-1 is a schematic diagram of the structure of the plate-shaped adhesive toe of the present invention. the

Fig. 1-2 is a schematic diagram of the mode of sticking toe sticking in the present invention. the

Fig. 1-3 is the schematic diagram of the detachment movement mode of the flat-shaped adhered toe of the present invention. the

Fig. 1-4 is the trajectories diagram of five kinds of planar toe adhesion movement of the present invention. the

Figures 1-5 are the graphs of the maximum adhesion force of the planar adhesion toe adhesion movement of the present invention along with five kinds of trajectories. the

Fig. 1-6 is the trajectories diagram of five kinds of detachment motions of flat-shaped adherent toes in the present invention. the

Figures 1-7 are detachment force trajectory diagrams of the detachment movement of the flat-shaped adhesive toe of the present invention along with five kinds of trajectories. the

Fig. 2-1 is a schematic diagram of the semi-arc adhesive toe structure of the present invention. the

Fig. 2-2 is a schematic diagram of the semi-arc toe adhesion movement mode 1 of the present invention. the

Fig. 2-3 is a schematic diagram of the semi-arc toe adhesion movement mode 2 of the present invention. the

2-4 are schematic diagrams of the semi-arc toe adhesion movement mode 3 of the present invention. the

2-5 are schematic diagrams of the detachment movement mode of the semi-arc adhered toe of the present invention. the

Fig. 3-1 is a schematic diagram of the structure of the full arc adhesive toe of the present invention. the

Fig. 3-2 is a schematic diagram of the full arc adhesion toe adhesion movement mode of the present invention. the

Fig. 3-3 is a schematic diagram of the full arc adhesion toe detachment movement mode of the present invention. the

Names of symbols in the above figures: a, viscous material layer; b, spring layer; c, flexible material toe base; d, terminal fixing device. The labels 1, 2, 3, 4, 5, and 6 in the figure are the sequence numbers of the adhesion or detachment movement, respectively, to represent the effective use according to the corresponding sequence and the movement mode in the corresponding figure. the

Detailed ways

Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

Specific implementation 1

Combined with Figures 1-1, 1-2, 1-3, 1-4, 1-5, 1-6, 1-7, this embodiment is a flat-shaped adhesive toe structure design and its use method, including sticky material, rigid spring material, rubber flexible material, end fixation device. As shown in Figure 1-1, the viscous material is a double-sided viscous material. The viscous material is adhered to one side of the rubber flexible material. The rigid spring material and the rubber flexible material are fixed by the end fixing device at the root of the toe, and the rigid spring material and the rubber flexible material are fixed. The other end of the material is also fixed correspondingly, ensuring that the adhesive material based on the rubber flexible material presents a flat plate shape. As shown in Figure 1-2, when the plate-shaped adhesive toe adheres, follow the sequence shown in the figure and its adhesion movement trajectory. In the early stage, the toe can be in contact with the adhered smooth surface at a certain angle. The front moves in a certain arc, and the degree of curvature of the arc will affect the value of the maximum adhesion. The end of the adhesive toe can be fixed in a plane two-degree-of-freedom motion platform, where the motion in the X and Y directions can be driven by stepping motors, and the motion control in the two-dimensional plane can be realized according to the corresponding motion trajectory. A force sensor is installed after the fixation device at the end of the toe is attached to collect force signals, and the maximum adhesion force and detachment force are calibrated and tested during the movement, and finally the adhesion characteristics of the adhesive material can be obtained to meet the requirements of the project. practical application requirements. As shown in Figure 1-3, when the plate-shaped adhesive toe is detached, follow the sequence shown in the figure and its detachment trajectory. In the early stage, the root of the toe can be contacted at an angle upward and forward to detach, and detachment begins The rear root moves forward in a certain arc, and the degree of curvature of the arc will affect the value of the maximum detachment force. According to the above-mentioned experimental test method, the adhesion characteristics of the adhesive material can be obtained to meet the actual application requirements in engineering. the

Select a double-sided adhesive material (CROWN#612) with a length of 30mm, a width of 12mm, and an initial contact angle of 30° for experimental testing. According to the adhesion trajectory of formula (1) and the desorption trajectory of formula (2) Exercise, get the maximum adhesion force value as shown in Figure 1-5 and the detachment force trajectory as shown in Figure 1-7, it can be seen that different adhesion trajectories and detachment trajectories have the same effect on the maximum adhesion force and detachment force of the adhered toe. Different, according to the type, size, spring stiffness and rubber flexibility of the actual adhesive material used, according to the above experimental test to find the motion trajectory that meets the actual engineering needs. the

1) Adhesion track:

$\left\{\begin{array}{cc}{\mathrm{<span\; class="notranslate">\; the\; <figure-callout\; id="1"\; label="y"\; filenames="HSA00000146269200022.png,HSA00000146269200041.png"\; state="\{\{state\}\}">y</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>\sqrt{\mathrm{<span\; class="notranslate">\; 2170.236</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 34.46</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 32.44</span>}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; \&le;</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 29.44</span>}\\ {\mathrm{<span\; class="notranslate">\; the\; <figure-callout\; id="2"\; label="y"\; filenames="HSA00000146269200012.png,HSA00000146269200021.png"\; state="\{\{state\}\}">y</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>\sqrt{\mathrm{<span\; class="notranslate">\; 3617.486</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 83.62</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 31.44</span>}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; \&le;</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 29.44</span>}\\ {\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 29.44</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; the\; <figure-callout\; id="3"\; label="y"\; filenames="HSA00000146269200012.png,HSA00000146269200021.png"\; state="\{\{state\}\}">y</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; \&le;</span>\mathrm{<span\; class="notranslate">\; 17</span>}\\ {\mathrm{<span\; class="notranslate">\; the\; <figure-callout\; id="4"\; label="y"\; filenames="HSA00000146269200021.png,HSA00000146269200022.png"\; state="\{\{state\}\}">y</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 8.5</span>}<span\; class="notranslate">\; \&PlusMinus;</span>\sqrt{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 2178.703</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 105.9</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 29.44</span>}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; \&le;</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 27.95</span>}\\ {\mathrm{<span\; class="notranslate">\; the\; <figure-callout\; id="5"\; label="y"\; filenames="HSA00000146269200012.png,HSA00000146269200021.png"\; state="\{\{state\}\}">y</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 8.5</span>}<span\; class="notranslate">\; \&PlusMinus;</span>\sqrt{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1661.106</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 88.32</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 29.44</span>}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; \&le;</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 27.16</span>}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

2) Desorption trajectory:

$\left\{\begin{array}{cc}{\mathrm{<span\; class="notranslate">\; the\; <figure-callout\; id="1"\; label="y"\; filenames="HSA00000146269200022.png,HSA00000146269200041.png"\; state="\{\{state\}\}">y</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>\sqrt{\mathrm{<span\; class="notranslate">\; 1156</span>}<span\; class="notranslate">\; -</span>{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 17</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 34</span>}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; \&le;</span>\mathrm{<span\; class="notranslate">\; 0</span>}\\ {\mathrm{<span\; class="notranslate">\; the\; <figure-callout\; id="2"\; label="y"\; filenames="HSA00000146269200012.png,HSA00000146269200021.png"\; state="\{\{state\}\}">y</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>\sqrt{\mathrm{<span\; class="notranslate">\; 1156</span>}<span\; class="notranslate">\; -</span>{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 12</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 34</span>}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; \&le;</span>\mathrm{<span\; class="notranslate">\; 0</span>}\\ {\mathrm{<span\; class="notranslate">\; the\; <figure-callout\; id="3"\; label="y"\; filenames="HSA00000146269200012.png,HSA00000146269200021.png"\; state="\{\{state\}\}">y</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; =</span>\sqrt{\mathrm{<span\; class="notranslate">\; 1156</span>}<span\; class="notranslate">\; -</span>{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 9</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 34</span>}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; \&le;</span>\mathrm{<span\; class="notranslate">\; 0</span>}\\ {\mathrm{<span\; class="notranslate">\; the\; <figure-callout\; id="4"\; label="y"\; filenames="HSA00000146269200021.png,HSA00000146269200022.png"\; state="\{\{state\}\}">y</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; =</span>\sqrt{\mathrm{<span\; class="notranslate">\; 1156</span>}<span\; class="notranslate">\; -</span>{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 6</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 34</span>}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; \&le;</span>\mathrm{<span\; class="notranslate">\; 0</span>}\\ {\mathrm{<span\; class="notranslate">\; the\; <figure-callout\; id="5"\; label="y"\; filenames="HSA00000146269200012.png,HSA00000146269200021.png"\; state="\{\{state\}\}">y</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; =</span>\sqrt{\mathrm{<span\; class="notranslate">\; 1156</span>}<span\; class="notranslate">\; -</span>{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 34</span>}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; \&le;</span>\mathrm{<span\; class="notranslate">\; 0</span>}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

The maximum adhesion force value shown in Figure 1-5 shows that when adhered according to the adhesion trajectory 5, the adhesion force is relatively maximum, that is, the trajectory convex toward the toe tip is more conducive to generating greater adhesion force; as shown in the figure The desorption force values shown in 1-7 show that when desorbing according to trajectory 1, the desorption force is relatively minimum, that is, the desorption trajectory moving forward is generally more conducive to generating a smaller desorption force. the

Specific implementation mode 2

Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

Combined with Figures 2-1, 2-2, 2-3, 2-4, 2-5, this embodiment is a semi-arc adhesive toe structure design and its use method, including viscous materials, rigid spring materials, rubber Flexible material, end fixation device. As shown in Figure 2-1, the viscous material is a double-sided viscous material. The viscous material is adhered to one side of the rubber flexible material. The rigid spring material and the rubber flexible material are fixed by the end fixing device at the root of the toe, and the rigid spring material and the rubber flexible material are fixed. The other end of the material is also fixed correspondingly, ensuring that the adhesive material based on the rubber flexible material presents a semi-curved shape. As shown in Figure 2-2, the semi-arc-shaped adhesive toes can be adhered according to the sequence shown in the figure and the adhesion movement track 1. In the early stage, the toes can be in parallel contact with the adhered smooth surface. Afterwards, it moves in a certain arc shape, and the degree of curvature of the arc will affect the value of the maximum adhesion force. It can be calibrated through the same experimental test as above to obtain the adhesion characteristics of the adhesive material, so as to facilitate engineering applications. As shown in Figure 2-3, the semi-arc-shaped adhesive toes can be adhered according to the sequence shown in the figure and the adhesion movement track 2. In the early stage, the toes can be in contact with the adhered smooth surface at a certain angle. After contact The root moves backward in a straight line, and the slope of the line will affect the value of the maximum adhesion force. It can be calibrated through the same experimental test as above to obtain the adhesion characteristics of the adhesive material, which is convenient for engineering applications. As shown in Figure 2-4, the semi-arc-shaped adhesive toe can be adhered according to the sequence shown in the figure and its adhesive movement track 3. In the early stage, the toe can be in contact with the adhered smooth surface at a certain angle. The root moves backwards in a straight line, and can move back and forth repeatedly during the movement. The repeated movement range will affect the value of the maximum adhesion force. It can be calibrated through the same experimental test as above to obtain the adhesion characteristics of the adhesive material to facilitate engineering applications. As shown in Figure 2-5, when the semi-arc-shaped toe is detached, follow the sequence shown in the figure and its detachment trajectory. In the early stage, the root of the toe can be contacted at an angle upward and forward to detach, and detachment begins After attachment, the root moves forward in a certain arc shape, and the degree of curvature of the arc will affect the value of the maximum desorption force. It can be calibrated through the same experimental test as above to obtain the adhesion characteristics of the adhesive material, which is convenient for engineering applications. The adhesion principle of the semi-arc-shaped adhesive toe is the same as that of the above-mentioned flat-shaped adhesive toe, and the specific test performance can also follow the method provided above to seek a motion trajectory that meets the engineering needs. the

Specific implementation mode 3

Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

Referring to Figures 3-1, 3-2, and 3-3, this embodiment is a full-arc adhesive toe structure design and its use method, including viscous materials, rigid spring materials, rubber flexible materials, and end fixing devices. As shown in Figure 3-1, the viscous material is a double-sided viscous material. The viscous material is adhered to one side of the rubber flexible material, and the rigid spring material and the rubber flexible material are fixed by the end fixing device at the root of the toe, ensuring that the rubber flexible material is used as the The adhered material of the substrate exhibits a full arc. As shown in Figure 3-2, the full-arc-shaped adhesive toes can be adhered according to the sequence shown in the figure and the adhesive movement trajectory. In the early stage, the toes can be in vertical contact with the adhered smooth surface, and the root should be backward after the initial contact. It moves in a certain arc shape, and the degree of curvature of the arc will affect the value of the maximum adhesion force. It can be calibrated through the same experimental test above to obtain the adhesion characteristics of the adhesive material to facilitate engineering applications. At the same time, the way of adhesion movement It can be carried out in the opposite direction, that is, it can be adhered forward or backward. As shown in Figure 3-3, when detaching the full-arc adhesive toe, follow the sequence shown in the figure and its detachment trajectory. At the initial stage, the root of the toe can be contacted at an angle upward and forward to detach, and detachment begins After attachment, the root moves forward in a certain arc shape, and the degree of curvature of the arc will affect the value of the maximum desorption force. It can be calibrated through the same experimental test as above to obtain the adhesion characteristics of the adhesive material, which is convenient for engineering applications. The adhesion principle of the full arc-shaped adhesive toe is the same as that of the above-mentioned flat adhesive toe, and the specific test performance can also follow the method provided above to seek a motion track that meets the engineering needs. the

Claims (8)

1. a robot is imitated the gecko adhesive toe, it is characterized in that:

Toe integral body is tabular;

Toe comprises flexible material toe substrate (c), is embedded in the viscous material layer (a) of flexible material toe substrate (c), and the bottom surface of above-mentioned viscous material layer (a) is consistent with flexible material toe substrate (c) bottom surface height;

Also be provided with spring layer (b) on flexible material toe substrate (c), spring layer (b) front end rear end is fixed with flexible material toe substrate (c) front end rear end respectively;

Above-mentioned flexible material toe substrate (c) is at position, toe tip and toe heel position cohesionless material.

2. robot according to claim 1 is imitated the gecko adhesive toe, it is characterized in that above-mentioned spring layer (b) is the spring of a bending 180 degree; And it is fixing after both ends merge behind the spring bending by terminal anchor fitting (d) and flexible material toe substrate (c).

3. the movement technique of the imitative gecko adhesive toe of robot according to claim 1 is characterized in that:

(1), drives the motion that the toe root is realized X and Y direction;

(2), the toe adhesion process, may further comprise the steps:

Toe is angled with the adhesion smooth surface, and the toe point is contacted with smooth surface earlier;

After beginning contact, the toe root moves to smooth surface, and toe root motion process carries out along an arcuate movement track that protrudes to toe point direction, and this mode provides main adhesive force by near the toe root in the middle of toe;

The degree of crook of the above-mentioned arching trajectory adhesive force that has the greatest impact, the adhesion characteristics of adhesion material obtains according to experiment test, and the path of motion of big adhesive force is provided to provide according to the engineering application needs;

(3), the toe desorption process, may further comprise the steps:

The toe root obliquely and angled forward makes toe root elder generation desorption in the early stage;

Behind the beginning desorption, the toe root becomes certain arching trajectory motion to make progressively desorption of whole toe forward;

The degree of crook of the above-mentioned arching trajectory desorption power that has the greatest impact, the adhesion characteristics of adhesion material obtains according to experiment test, and the path of motion of less desorption power is provided to provide according to the engineering application needs.

4. a robot is imitated the gecko adhesive toe, it is characterized in that:

Toe integral body is half arc;

Toe comprises flexible material toe substrate (c), is embedded in the viscous material layer (a) of flexible material toe substrate (c), and the bottom surface of above-mentioned viscous material layer (a) is consistent with flexible material toe substrate (c) bottom surface height;

Also be provided with spring layer (b) on flexible material toe substrate (c), spring layer (b) front end rear end is fixed with flexible material toe substrate (c) front end rear end respectively;

Above-mentioned flexible material toe substrate (c) the front and back length of viscous material layer (a) that is embedded with is greater than length before and after the above-mentioned spring layer (b); Flexible material toe substrate (c) is arch and is positioned on the spring layer (b);

Above-mentioned flexible material toe substrate (c) is at position, toe tip and toe heel position cohesionless material.

5. robot according to claim 4 is imitated the gecko adhesive toe, it is characterized in that above-mentioned spring layer (b) is the spring of a bending 180 degree; And it is fixing after both ends merge behind the spring bending by terminal anchor fitting (d) and flexible material toe substrate (c).

6. the movement technique of the imitative gecko adhesive toe of robot according to claim 4 is characterized in that:

(1), drives the motion that the toe root is realized X and Y direction;

(2), toe adheres to the following three kinds of modes that comprise, selects corresponding manner according to the required adhesive force size of reality:

(2-1), toe is parallel shape with the adhesion smooth surface and begins to contact, and begins to contact the hallux root and moves to smooth surface, this mode provides main adhesive force at the toe centre portion;

(2-2), toe is angled the beginning with the adhesion smooth surface and contacts, and makes the contact earlier of toe front end, begins to contact the hallux root and moves to smooth surface, this mode rear end in toe provides main adhesive force;

(2-3), under the situation of mode (2-1) or mode (2-2), make toe toe root that one back and forth movement process is arranged when smooth surface moves again, this mode is held before, during and after toe all provides adhesive force;

(3), the toe desorption comprises following process:

The toe root obliquely and angled forward makes toe root elder generation desorption in the early stage;

Behind the beginning desorption, the toe root becomes certain arching trajectory motion to make progressively desorption of whole toe forward;

The degree of crook of the above-mentioned arching trajectory desorption power that has the greatest impact, the adhesion characteristics of adhesion material obtains according to experiment test, and the path of motion of less desorption power is provided to provide according to the engineering application needs.

7. a robot is imitated the gecko adhesive toe, it is characterized in that:

Toe integral body is the arch spatial structure of crooked 180 degree, and arch configuration is followed successively by spring layer (b), flexible material toe substrate (c) from inside to outside, and flexible material toe substrate (c) is fixed in adhesive toe toe heel position by terminal anchor fitting (d) with spring layer (b);

Above-mentioned flexible material toe substrate (c) outside also is embedded with viscous material layer (a); And the outside face of above-mentioned viscous material layer (a) and flexible material toe substrate (c) outside face are on same curved surface;

Above-mentioned flexible material toe substrate (c) is at position, toe tip and toe heel position cohesionless material.

8. the movement technique of the imitative gecko adhesive toe of robot according to claim 7 is characterized in that:

(1), drives the motion that the toe root is realized X and Y direction;

(2), toe adheres to and to comprise following dual mode, according to the required selection corresponding manner of reality:

(2-1), toe and adhesion smooth surface are vertical configuration, the no adhesion material of toe toe point position is contacted earlier with smooth surface, begin to contact the oblique back of hallux root to the smooth surface motion, this mode adheres in toe bottom and smooth surface, and total adhesive force direction backward;

(2-2), toe and adhesion smooth surface are vertical configuration, the no adhesion material of toe toe point position is contacted earlier with smooth surface, begin to contact the smooth apparent motion of the oblique forward direction of hallux root, this mode adheres at toe top and smooth surface, and total adhesive force direction forward;

(3), the toe desorption process comprises following dual mode, according to the required selection corresponding manner of reality::

(3-1), if the toe adhesion process adopts mode (2-1), then the toe root obliquely and angled forward makes toe root elder generation desorption in the early stage; After toe began desorption, the toe root became certain arching trajectory motion to make progressively desorption of whole toe forward, and total desorption power forward;

(3-2), if the toe adhesion process adopts mode (2-2), then the toe root obliquely and angled backward makes toe root elder generation desorption in the early stage; After toe began desorption, the toe root became certain arching trajectory motion to make progressively desorption of whole toe backward, and total desorption power forward;

The degree of crook of the above-mentioned arching trajectory desorption power that has the greatest impact, the adhesion characteristics of adhesion material obtains according to experiment test, and the path of motion of less desorption power is provided to provide according to the engineering application needs.

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