CN101890988B - Adhesive toe for gecko robot and movement method thereof - Google Patents
Adhesive toe for gecko robot and movement method thereof Download PDFInfo
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- CN101890988B CN101890988B CN2010101902194A CN201010190219A CN101890988B CN 101890988 B CN101890988 B CN 101890988B CN 2010101902194 A CN2010101902194 A CN 2010101902194A CN 201010190219 A CN201010190219 A CN 201010190219A CN 101890988 B CN101890988 B CN 101890988B
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Abstract
The invention relates to an adhesive toe for a gecko robot and a movement method thereof and belongs to the field of technical application of biomorphic robots. The toe comprises a flexible material toe base (c) and a sticky material layer (a) which is embedded into the flexible material toe base (c), wherein the height of the lower bottom surface of the sticky material layer (a) is equal to that of the flexible material toe base (c); and a spring layer (b) is also formed on the flexible material toe base (c). The toe has three specific structures, namely flat-shaped, semi-arc and arched stereo structures with bending of 180 degrees. According to the characteristic of a special cantilever type structure, the driven mode is adopted, so that the characteristics that the toe has the larger adhesion in one direction and the smaller desorption force in the negative direction are provided, and the mechanical anisotropy characteristics that a gecko has the larger adhesion in the one direction and the smaller desorption force in the negative direction can be simulated fully and are applied to the gecko robot.
Description
Technical field
The invention belongs to the bio-robot technical applications, be specifically related to a kind of structure design and using method thereof of imitative gecko toe, be mainly used in the imitative gecko climbing robot sole design to realize climbing the wall motion.
Background technology
Gecko can freedom and flexibility ground motion on different normal planes such as ground, cliff, top ceiling.This motion feature ability of gecko becomes the object that scientist studies imitation.Climbing robot can be in the precipitous vertical general work of danger, cleans at the mansion outer wall, boats and ships detect, field such as maintenance has purposes widely outside the space capsule, thereby is subjected to the attention of each developed country.The imitative gecko climbing robot that can creep on vertical wall and top ceiling as gecko is to compare one of the hot issue in forward position among the bionic machine people in the world at present.Adsorption technology is the core technology that gecko-emulated robot realizes climbing wall, and at present both at home and abroad through after years of researches and the development, existing climbing robot mainly contains magnetic and echos suction type absorption mode on suction type.Now do introduction with regard to the present Research of this technology and association area and the merits and faults of experimental prototype:
(1) BJ University of Aeronautics ﹠ Astronautics's robot research developed a kind of can ground, the wall transition the imitative gecko Four-feet creeping robot (patent No.: CNI01353064A).This robot adopts the Four-feet creeping mode, is made up of mechanics and circuit part, and mechanics is made of health and four limbs, is divided in two parts, and symmetry connects by moving sets between two parts fully.The adhesion mode that this robot adopts is the absorption of actv. electromagnetic type.Electromagnetism absorption is to be adsorbed on the adherent surface by magnetic force, and adsorption affinity is big, but requires the adherent surface magnetic conduction.And robot needs in moving process to the electromagnet power supply, and is very big to the power demands of robot.
(2) the patent wall gecko imitation mini-robot of professor Wang Liquan of the Harbin Engineering University application (patent No.: CN 1947959A) adopted initiatively vacuum suction mode.Physical construction comprises the single leg structure of bionical gecko, gecko-emulated robot health package assembly and negative-pressure adsorption and puts pressure device that the single leg of bionical gecko is made up of thigh, shank and sucker.Single leg is driven by 3 steering wheels, and body structure comprises that two waists driving steering wheels, two air pumps, two gases put pressure device, two four-way gas-tpe fittings and six formations such as plastics conductor tube.The vacuum suction mode is the adsorption structure complexity not only, instability, and, therefore environment is had bigger limitation because such suction type requires the smooth easy sealing of adherent surface.
In based on dryness adhesion mode, the research group of the professor mark of Stanford Univ USA Cutkosky develops gecko robot Stickybot (Daltorio, 2005; Carlo Menon, 2004).This robot can imitate gecko on structure and suction type, have the artificial bristle that elastomeric material is made on its sole, and it is that famous Van der Waals force " holds " wall that every bristle can both utilize molecular force.These small polymer pulvinus can guarantee that vola and wall area of contact are big, and then make Van der Waals viscosity reach maximization.But the manufacture craft difficulty of this adhesion material is big, the manufacturing cost height.The adsorption power of dryness adhesion at present is still mutually far short of what is expected compared with true gecko, and the but easily loss of difficulty of processing height.This robot rotates the steering wheel driving span wire system of sole simultaneously, realizes sole desorption and adhesion.This active adhesion mode needs additional potential line mechanism and backguy drive motor independently, has also increased the complexity of system when therefore realizing.
Traditional adhesion material, because its identical adhesion material has identical adhesion property, adhesive force and desorption power are constant when directly using, (might cause clinging the back does not break away from the adhesive force of identical size and the desorption power of identical size promptly can to occur, also might cause initially just fail to stick at all), reversing sense has the characteristic of less desorption power to having big adhesive force to be unfavorable for simulating the gecko folk prescription.
Above-mentioned active drive is climbed the wall mode, has increased the complexity and the energy consumption of system, and magnetic echos adhesive force such as negative-pressure adsorption and desorption power is constant, can not simulate fully that direction of gecko has big adhesive force and other direction has the characteristic of less desorption power.
Summary of the invention
The object of the present invention is to provide imitative gecko adhesive toe of a kind of robot and movement technique thereof, be somebody's turn to do imitative gecko toe applicable in imitative gecko climbing robot sole design that adheres at smooth surface and the motion realization, according to its special cantilever structure characteristics, adopt driven mode, folk prescription can be provided, and reversing sense has the characteristic of less desorption power to having big adhesive force, can simulate this mechanics anisotropy characteristics of gecko folk prescription fully, and be applied in the gecko-emulated robot to bigger adhesive force and the less desorption power of reversing sense.
Scheme one:
A kind of robot is imitated the gecko adhesive toe, and it is characterized in that: toe integral body is tabular; Toe comprises the substrate of flexible material toe, is embedded in the viscous material layer of flexible material toe substrate, and the bottom surface of above-mentioned viscous material layer is consistent with flexible material toe substrate bottom surface height; Also be provided with spring layer on the substrate of flexible material toe, spring layer front end rear end is fixed with flexible material toe substrate front end rear end respectively; The substrate of above-mentioned flexible material toe is at position, toe tip and toe heel position cohesionless material
Because its special cantilever structure characteristics help overcoming less desorption mechanical resistance power and just can realize desorption, have possessed the characteristics of less desorption power; Simultaneously toe adheres to the back when the parallel direction backward of adhesive surface applies application force, can produce bigger adhesive force, has therefore possessed big adhesive force characteristics.Reversing sense has the requirement of less desorption power to having big adhesive force can to satisfy folk prescription, can simulate this mechanics anisotropy characteristics of gecko folk prescription to bigger adhesive force and the less desorption power of reversing sense fully.
The movement technique of the imitative gecko adhesive toe of above-mentioned robot is characterized in that: (1), driving toe root are realized the motion of X and Y direction; (2), the toe adhesion process, may further comprise the steps: toe contacts earlier the toe point with to adhere to smooth surface angled with smooth surface; 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.
The arcuate movement track of above-mentioned adhesion will greatly have the greatest impact the size of adhesive force, simultaneously the arching trajectory of desorption also will have influence on the size of maximum desorption power, in actual applications, selection can produce the path of motion of big adhesive force and less desorption power.The material of the adhesive attraction that flat adhesive toe is risen in adhesion process mainly is distributed in the adhesive toe middle part by near the toe root.
Scheme two::
A kind of robot is imitated the gecko adhesive toe, and it is characterized in that: toe integral body is half arc; Toe comprises the substrate of flexible material toe, is embedded in the viscous material layer of flexible material toe substrate, and the bottom surface of above-mentioned viscous material layer is consistent with flexible material toe substrate bottom surface height; Also be provided with spring layer on the substrate of flexible material toe, spring layer front end rear end is fixed with flexible material toe substrate front end rear end respectively; The above-mentioned flexible material toe substrate front and back length of viscous material layer that is embedded with is greater than length before and after the above-mentioned spring layer; The substrate of flexible material toe is arch and is positioned on the spring layer; The substrate of above-mentioned flexible material toe is at position, toe tip and toe heel position cohesionless material.
Based on above-mentioned similar cantilever structure characteristics, also has big adhesive force and reversing sense has less desorption Z-TEK point, because it is bigger that half arcuate structure makes in the distortion of adhesion process medi-spring layer, help to overcome littler desorption power after having increased the pretension of spring, reversing sense has the requirement of less desorption power to having big adhesive force to better meet folk prescription, can simulate this mechanics anisotropy characteristics of gecko folk prescription to bigger adhesive force and the less desorption power of reversing sense fully.
The movement technique of the imitative gecko adhesive toe of above-mentioned robot is characterized in that: (1), driving toe root are realized the motion of X and Y direction; (2), toe adheres to the following three kinds of modes that comprise, select corresponding manner according to the required adhesive force of reality size: (2-1), toe is parallel shape with the adhesion smooth surface and begins to contact, begin to contact the hallux root and move 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.
Because the flexibility characteristics of half arc toe structure, when adhering to according to mode (2-1), because the centre portion of toe provides main adhesive force, therefore total adhesive force is less relatively; When adhering to according to mode (2-2), because the posterior part of toe provides main adhesive force, therefore total adhesive force is medium relatively; When adhering to according to mode (2-3), owing to part before, during and after the toe provides main adhesive force, therefore total adhesive force is relatively large; Half arcuate structure has increased the pretension of spring, becomes certain arching trajectory motion to make progressively desorption of whole toe forward; The selection of above-mentioned adhesion and desorption mode can be selected according to actual requirement of engineering.
Scheme three:
A kind of 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, the substrate of flexible material toe from inside to outside, and the substrate of flexible material toe and spring layer are fixed in adhesive toe toe heel position by terminal anchor fitting; The above-mentioned flexible material toe substrate outside also is embedded with viscous material layer; And the outside face of above-mentioned viscous material layer and flexible material toe outer surfaces of substrates are on same curved surface; The substrate of above-mentioned flexible material toe is at position, toe tip and toe heel position cohesionless material.
Based on above-mentioned similar cantilever structure characteristics, also has big adhesive force and reversing sense has less desorption Z-TEK point, because it is bigger that full arc shape structure makes in the distortion of adhesion process medi-spring layer, help to overcome littler desorption power after having increased the pretension of spring biglyyer, reversing sense has the requirement of less desorption power to having big adhesive force to satisfy folk prescription better, can simulate this mechanics anisotropy characteristics of gecko folk prescription to bigger adhesive force and the less desorption power of reversing sense fully.Have adhesion material in conjunction with full arc shape structure bottom and top layer, can realize the adhesion on former and later two directions respectively, can select the path of motion of certain adhesive force action direction of needs according to actual condition.
The movement technique of the imitative gecko adhesive toe of above-mentioned robot is characterized in that: (1), driving toe root are realized the motion of X and Y direction; (2), toe adheres to and comprises following dual mode, according to the required selection corresponding manner of reality: (2-1), toe and adhesion smooth surface be vertical configuration, the no adhesion material of toe toe point position is contacted earlier with smooth surface, beginning to contact the oblique back of hallux root moves to smooth surface, 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.
Because full arc shape toe structure has bottom and top layer adhesive surface, when adhering to according to mode (2-1), because the bottom of toe provides main adhesive force, at this moment total adhesive force direction backward; When adhering to according to mode (2-2), because the top of toe provides main adhesive force, at this moment total adhesive force direction forward; According to mode (3-1) with (3-2) during desorption, the adhesive force direction is opposite with the desorption force direction; The selection of above-mentioned adhesion and desorption mode can be selected according to actual requirement of engineering.
When above three kinds of schemes, experiment showed by scheme one adhesion and desorption, adhesive force was medium relatively, and desorption power is medium relatively; By (2-1) in the scheme two, (2-2) and (2-3) when mode adheres to adhesive force relative medium, bigger and maximum respectively, desorption power is less relatively during by scheme two desorptions; By (2-1) in the scheme three, (2-2) when mode adheres to adhesive force medium relatively, desorption power is minimum relatively during by (3-1) in the scheme three, (3-2) mode desorption.
Such scheme one, scheme two, three kinds of spring layers of scheme can be the spring of a bending 180 degree; And both ends are fixed by terminal anchor fitting and the substrate of flexible material toe after merging behind the spring bending.The effect of spring is to provide the rigidity of small quantity, therefore adopts general steel disc (as having the rigidity of small quantity) equally also can implement, and more can select the steel disc of proper stiffness with practical requirement according to operating mode.
Therefore, adhesive toe presents different structures, moves with desorption in conjunction with different adhesions and can realize the performance requriements of different adhesive forces and desorption power.
The present invention compared with prior art has following advantage:
1, the present invention can simulate the anisotropy characteristics (reversing sense has the characteristic of less desorption power to folk prescription to having big adhesive force) of gecko toe adhesive force, for imitative gecko climbing robot exercise testing provides important mechanical test environment.
2, adhesive toe of the present invention is simple in structure, principle of work is clear, easy to process, economically feasible.
3, adhesive toe volume of the present invention is little, in light weight, satisfies imitative gecko climbing robot Structural Design Requirement, realizes climbing the wall motion for imitative gecko climbing robot necessary equipment guarantee is provided.
4, adhesive toe of the present invention belongs to passive type (need not the active drive mode) adhesion mode, be different from that traditional magnetic is attached, negative-pressure adsorption mode etc., the equipment that has reduced active drive requires and energy consumption, has reduced to climb the control difficulty of wall motion, helps robot architecture's integrated design.
Description of drawings
Fig. 1-the 1st, tabular adhesive toe structural representation of the present invention.
Fig. 1-2 is that tabular adhesive toe of the present invention adheres to the mode of motion scheme drawing.
Fig. 1-the 3rd, tabular adhesive toe desorption mode of motion scheme drawing of the present invention.
Fig. 1-the 4th, tabular adhesive toe of the present invention adhere to 5 kinds of trajectory diagrams of motion.
Fig. 1-the 5th, tabular adhesive toe of the present invention adhere to motion to try hard to the maximum adhesion of 5 kinds of orbiting motions.
Fig. 1-the 6th, 5 kinds of trajectory diagrams of tabular adhesive toe desorption motion of the present invention.
Fig. 1-the 7th, tabular adhesive toe desorption motion of the present invention is with the desorption power trajectory diagram of 5 kinds of orbiting motions.
Fig. 2-the 1st, the present invention's half arc adhesive toe structural representation.
Fig. 2-the 2nd, the present invention's half arc adhesive toe adheres to mode of motion 1 scheme drawing.
Fig. 2-the 3rd, the present invention's half arc adhesive toe adheres to mode of motion 2 scheme drawings.
Fig. 2-the 4th, the present invention's half arc adhesive toe adheres to mode of motion 3 scheme drawings.
Fig. 2-the 5th, the present invention's half arc adhesive toe desorption mode of motion scheme drawing.
Fig. 3-the 1st, full arc shape adhesive toe structural representation of the present invention.
Fig. 3-the 2nd, full arc shape adhesive toe of the present invention adheres to the mode of motion scheme drawing.
Fig. 3-the 3rd, full arc shape adhesive toe desorption mode of motion scheme drawing of the present invention.
Above-mentioned number in the figure title: a, viscous material layer; B, spring layer; C, the substrate of flexible material toe; D, terminal anchor fitting.1,2,3,4,5,6 label is respectively and adheres to or desorption sequence of motion number among the figure, effectively uses according to the mode of motion in corresponding order and the corresponding diagram with expression.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail:
The specific embodiment 1
In conjunction with Fig. 1-1,1-2,1-3,1-4,1-5,1-6,1-7, present embodiment is a kind of tabular adhesive toe structure design and using method thereof, comprises cohesive material, stiffness spring material, rubber flexible material, terminal anchor fitting.As Figure 1-1, cohesive material is the biadhesive material, cohesive material is adhered to the one side of rubber flexible material, the toe root is fixed stiffness spring material and rubber flexible material by terminal anchor fitting, the other end of stiffness spring material and rubber flexible material is respective fixation also, guarantees with the rubber flexible material to be that the adhesion material of substrate presents tabular.Shown in Fig. 1-2, when adhering to, the tabular adhesive toe can and adhere to path of motion according to order shown in the figure, in the early stage can with toe with adhere to that smooth surface is angled to be contacted, begin to contact back root part and become certain arcuate movement forward, will the have the greatest impact value of adhesive force of the degree of crook of arc.The adhesive toe end can be fixed in the binary motion platform in plane, wherein the motion of X and Y direction can be by step motor drive, according to corresponding path of motion, be implemented in the motion control in the two dimensional surface, can adopt simultaneously installing force sensor behind the terminal anchor fitting of adhesive toe, realize the force signal collection is demarcated test to maximum adhesion power and desorption power in motion process, finally can obtain the adhesion characteristics of adhesion material, to satisfy the practice requirement in the engineering.As Figure 1-3, during tabular adhesive toe desorption according to shown in the figure order and desorption path of motion, in the early stage can with the toe root obliquely with the angled desorption that contacts forward, beginning desorption back root part becomes certain arcuate movement forward, to the have the greatest impact value of desorption power of the degree of crook of arc, according to above-mentioned experiment test mode, can obtain the adhesion characteristics of adhesion material, to satisfy the practice requirement in the engineering.
Choose a kind of double faced adhesive tape material (CROWN#612), long is 30mm, wide is 12mm, the initial contact angle degree is 30 ° of tests that experimentize, according to as the adhesion track of formula (1) and the desorption orbiting motion of formula (2), obtain as Fig. 1-5 maximum adhesion power value with as Fig. 1-7 desorption power track, as seen, different adhesion tracks is also different with the influence of desorption power to the maximum adhesion power of adhesive toe with the desorption track, specifically can be according to the adhesion material type of reality employing, size, spring stiffness is different with the rubber flexible degree, seeks the path of motion of realistic requirement of engineering according to above-mentioned experiment test.
1) adhere to track:
2) desorption track:
Maximum adhesion power value shown in Fig. 1-5 shows that when adhering to according to adhesion track 5, adhesive force is maximum relatively, promptly is more conducive to produce bigger adhesive force to the protruding track of toe point direction; Desorption power value shown in Fig. 1-7 shows that during according to track 1 desorption, desorption power is minimum relatively, and promptly overall more proal desorption track more helps producing less desorption power.
The specific embodiment 2
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail:
In conjunction with Fig. 2-1,2-2,2-3,2-4,2-5, present embodiment is a kind of half arc adhesive toe structure design and using method thereof, comprises cohesive material, stiffness spring material, rubber flexible material, terminal anchor fitting.Shown in Fig. 2-1, cohesive material is the biadhesive material, cohesive material is adhered to the one side of rubber flexible material, the toe root is fixed stiffness spring material and rubber flexible material by terminal anchor fitting, the other end of stiffness spring material and rubber flexible material is respective fixation also, guarantees with the rubber flexible material to be that the adhesion material of substrate presents half arc.Shown in Fig. 2-2, when adhering to, half arc adhesive toe can and adhere to path of motion 1 according to order shown in the figure, in the early stage can be with toe and the parallel contact of adhesion smooth surface, begin to contact back root part and become certain arcuate movement backward, to the have the greatest impact value of adhesive force of the degree of crook of arc, can demarcate by above-mentioned identical experiment test, obtain the adhesion characteristics of adhesion material, to make things convenient for engineering application.Shown in Fig. 2-3, when adhering to, half arc adhesive toe can and adhere to path of motion 2 according to order shown in the figure, in the early stage can with toe with adhere to that smooth surface is angled to be contacted, begin to contact back root part straight-line motion backward, to the have the greatest impact value of adhesive force of the slope of straight line, can demarcate by above-mentioned identical experiment test, obtain the adhesion characteristics of adhesion material, to make things convenient for engineering application.Shown in Fig. 2-4, when adhering to, half arc adhesive toe can and adhere to path of motion 3 according to order shown in the figure, in the early stage can with toe with adhere to that smooth surface is angled to be contacted, begin to contact back root part straight-line motion backward, can move repeatedly back and forth during motion, the motion amplitude value of adhesive force that will have the greatest impact can be demarcated by above-mentioned identical experiment test repeatedly, obtain the adhesion characteristics of adhesion material, to make things convenient for engineering application.Shown in Fig. 2-5, during half arc adhesive toe desorption according to shown in the figure order and desorption path of motion, in the early stage can with the toe root obliquely with the angled desorption that contacts forward, beginning desorption back root part becomes certain arcuate movement forward, to the have the greatest impact value of desorption power of the degree of crook of arc, can demarcate by above-mentioned identical experiment test, obtain the adhesion characteristics of adhesion material, to make things convenient for engineering application.The adhesion principles of this half arc adhesive toe is identical with the adhesion principles of above-mentioned tabular adhesive toe, and concrete test performance also can seek to satisfy the path of motion of requirement of engineering according to the above-mentioned method that provides.
The specific embodiment 3
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail:
In conjunction with Fig. 3-1,3-2,3-3, present embodiment is a kind of full arc shape adhesive toe structure design and using method thereof, comprises cohesive material, stiffness spring material, rubber flexible material, terminal anchor fitting.Shown in Fig. 3-1, cohesive material is the biadhesive material, cohesive material is adhered to the one side of rubber flexible material, and the toe root is fixed stiffness spring material and rubber flexible material by terminal anchor fitting, guarantees with the rubber flexible material to be that the adhesion material of substrate presents full arc shape.Shown in Fig. 3-2, when adhering to, full arc shape adhesive toe can and adhere to path of motion according to order shown in the figure, in the early stage can with toe with adhere to that smooth surface is vertical to be contacted, begin to contact back root part and become certain arcuate movement backward, to the have the greatest impact value of adhesive force of the degree of crook of arc, can demarcate by above-mentioned identical experiment test, obtain the adhesion characteristics of adhesion material, to make things convenient for engineering application, but the mode reversing sense that adheres to motion simultaneously carries out, and can adhere to forward also and can adhere to backward.Shown in Fig. 3-3, during full arc shape adhesive toe desorption according to shown in the figure order and desorption path of motion, in the early stage can with the toe root obliquely with the angled desorption that contacts forward, beginning desorption back root part becomes certain arcuate movement forward, to the have the greatest impact value of desorption power of the degree of crook of arc, can demarcate by above-mentioned identical experiment test, obtain the adhesion characteristics of adhesion material, to make things convenient for engineering application.The adhesion principles of this full arc shape adhesive toe is identical with the adhesion principles of above-mentioned tabular adhesive toe, and concrete test performance also can seek to satisfy the path of motion of requirement of engineering according to the above-mentioned method that provides.
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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| CN103979030B (en) * | 2014-05-13 | 2016-03-30 | 上海宇航系统工程研究所 | The bionical dry adhering device of one kind gecko |
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| CN110524563B (en) * | 2019-08-15 | 2020-10-30 | 清华大学 | Control device for adhesion and desorption |
| CN111745678B (en) * | 2020-05-19 | 2022-08-16 | 上海交通大学 | Self-adaptive dry adsorption-desorption functional pneumatic flexible gripper |
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