CN104354781A - Variable-rigidity biomimetic falcula mechanism and falcula components thereof - Google Patents
Variable-rigidity biomimetic falcula mechanism and falcula components thereof Download PDFInfo
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- CN104354781A CN104354781A CN201410454237.7A CN201410454237A CN104354781A CN 104354781 A CN104354781 A CN 104354781A CN 201410454237 A CN201410454237 A CN 201410454237A CN 104354781 A CN104354781 A CN 104354781A
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- 230000003592 biomimetic effect Effects 0.000 title abstract 2
- 210000000078 claw Anatomy 0.000 claims abstract description 15
- 238000009434 installation Methods 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 239000000470 constituent Substances 0.000 claims description 4
- 230000009194 climbing Effects 0.000 abstract description 12
- 238000001514 detection method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
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- 241001662443 Phemeranthus parviflorus Species 0.000 description 1
- 241000233805 Phoenix Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
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Abstract
The invention discloses a variable-rigidity biomimetic falcula mechanism and falcula components thereof. The falcula components comprise a falcula mounting head and a falcula in elastic connection with the falcula mounting head, wherein the falcula comprises a micro claw connecting head and more than one micro claw unit; a claw tip is arranged on each micro claw unit; all the micro claw units are sequentially connected in series in a threadlike manner, a limiting post is arranged on the outer side end surface of the micro claw units at the end part, and every two adjacent micro claw units, as well as the micro claw units and the adjacent end surfaces of the micro claw connecting head, are in elastic connection; the rigidity of elastic connection between all composition components of the falcula is smaller than that of elastic connection between the falcula and the falcula mounting head; a movable connecting head is also arranged between every two adjacent micro claw units. Therefore, owing to the variable-rigidity characteristic of the falcula components, the grabbing stability of a climbing robot can be greatly improved, a bigger grabbing force can be provided, and the falcula components can adapt to more complicated work environments and has a wider application range.
Description
Technical field
The present invention relates to the crawl hook of high vacant building rough surface climbing robot (as rough concrete wall, steep cliff wall, granitic plaster wall), particularly relate to and a kind ofly can to stablize, effectively realize stiffness variable hook that high vacant building wall is captured, belong to Intelligent bionic machinery people field.
Background technology
At present, climbing robot has been widely used in the testing of hydraulically smooth surface, but high-altitude wall that is more for the dust being material with rough concrete, square brick and rock, that be in small size low-frequency vibration, not yet there is good adsorption method.In recent years, domestic high-altitude building accident is of common occurrence, and as Hunan phoenix bridge bridge collapse accident in 2007, within 2007, Changzhou road bridge caved in, Harbin in 2012 sun bright stand bridge fracture, Henan Yi Chang bridge cave-in accident in 2013, etc.Therefore, carry out periodic detection to high vacant building significant, the cycle of manual detection is long, and dangerous high, difficulty is large, develops special high vacant building measuring robots and replaces manual detection work and become inevitable requirement.
Different from conventional magnetic suck, vacuum, negative-pressure adsorption mode, the suction type of the robot that this patent proposes and coarse metope is realized the grasping movement of metope by hook, the principle that its action principle climbs metope with cockroach, hornet, beetle etc. is substantially identical, and hook is equivalent to the claw of toy.The grasp force of hook and metope and stability are subject to the impact of all many factors such as apparent condition, external disturbance load of hook self structure, metope, and the mechanism of action is extremely complicated.Alcula type suction type, as the most crucial technology of high vacant building climbing robot, realizes stable, efficient, safe climbing operation to robot and has decisive role.
A placement unit comprises multiple hook usually, and these hooks are assembled together by fixed mount parallel connection, and each hook can self-movement in certain scope.By the among a small circle motion of each hook on respective position, pawl point can be made to be fitted on metope and to find respective most suitable crawl point, realize stable crawl.
Fig. 1 discloses the structure diagram of a kind of hook assembly in prior art, this hook assembly comprise pawl point 101', hook main body 102', Flexible Connector 103'(spring), link span 105', the first revolute pair 106', the second revolute pair 109', limited post 1110'; When pawl point presses close to metope, flexibly connect effect due to Flexible Connector 103', pawl point can move among a small circle, and pawl point is fitted on coarse metope and moves, and seeks bestly to capture point; Along with the continuation of grasping movement, grasp force F increases gradually, and Flexible Connector 103' is stretched further, and meanwhile hook tip divides and moves to the right, when diagram distance
when being compressed to 0, pawl point moves arrival end position to the right.
As shown in Figure 2, the Main Function of Flexible Connector 103' provides necessary Low rigidity resilient mounting for finding the best point that captures neatly, and grasp force is mainly provided by the spacing of rigidity.The hook of this structure has approximate permanent stiffness characteristics, and structure is simple, oad is small and exquisite, process for machining and manufacturing difficulty is low, comparatively large at some metope roughnesss, applies very wide, but have the following disadvantages in the good situation of apparent condition:
1, the rigidity of Flexible Connector 103' is very little, grasp force provides primarily of the spacing of rigidity, because the best crawl position of the some hooks in a placement unit is different, the elongation of the Flexible Connector 103' of each hook is different, the pawl point of indivedual hook is positioned at extreme displacement, and the pawl point of some hooks does not reach the limit of position, which results in the grasp force that the multiple hooks in placement unit provide uneven, the grasp force of some hooks is very large, some hook effects are less, even cause in a placement unit, only having other one or two hook to work, the grasp force that single placement unit provides is less,
2, the application force between pawl point and metope convex and concave feature is comparatively complicated, the uncertainty of the disturbance of external environmental factor and metope self micromechanism intensity can cause pawl point to depart from metope, adopt this technical scheme once the crawl between hook and metope departs from, more difficult secondary of setting up captures, cause the stability of grasping movement to decline, easily cause the safety misadventure that robot falls from metope;
3, stiffness equivalent scope is little, adjustment is inconvenient, constrains the Applicable scope of climbing robot.
Summary of the invention
The present invention is directed to the problems referred to above, from bionic structure angle, by the research to the toy claw structures such as cockroach, hornet, beetle and motion feature, devise the bionical hook assembly of a kind of stiffness variable; The variation rigidity characteristic of steel claw assembly of the present invention greatly can improve the stability of climbing robot crawl, can provide larger grasp force, can adapt to more complex work environment, have wider field of application.
For realizing above technical purpose, the present invention will take following technical scheme:
The bionical hook assembly of a kind of stiffness variable, the hook comprising hook mounting head and be connected with hook mounting head elasticity; Described hook comprises micro-pawl connector and more than one micro-pawl unit, and each micro-pawl unit all arranges pawl point; Each micro-pawl unit is that wire is connected in series successively, and the end face outside being positioned at micro-pawl unit of end arranges limited post, be all that elasticity is connected between adjacent two micro-pawl unit, between each micro-pawl unit and the adjacent face of micro-pawl connector, the elasticity coupling stiffness between each constituent elements of simultaneously hook is less than the elasticity coupling stiffness between hook and hook mounting head; Flexible connection head is also provided with between adjacent two micro-pawl unit.
Hook is connected with hook mounting head elasticity by the first Flexible Connector; Connected by the second Flexible Connector elasticity between adjacent two micro-pawl unit; Be connected by the 3rd Flexible Connector elasticity between each micro-pawl unit and the adjacent face of micro-pawl connector; The elastic stiffness of the second described Flexible Connector, the 3rd Flexible Connector is all lower than the elastic stiffness of the first Flexible Connector.
Described hook mounting head and micro-pawl mounting head all take the shape of the letter U shape; The micro-pawl mounting head of described U-shaped is placed in U-shaped hook mounting head; Described first Flexible Connector comprises Flexible Connector a, Flexible Connector b, between the closed end of the micro-pawl mounting head of described U-shaped and the closed end of U-shaped hook mounting head, Flexible Connector a is connected, and the two side arms of the micro-pawl mounting head of U-shaped, be connected by Flexible Connector b with a side arm adjacent in the two side arms of U-shaped hook mounting head respectively; Described 3rd Flexible Connector comprises Flexible Connector c, Flexible Connector d, the end face outside being positioned at micro-pawl unit of end is connected with adjacent U-shaped micro-pawl mounting head side arm by Flexible Connector c, and each micro-pawl unit is all connected with the closed end of the micro-pawl mounting head of U-shaped by Flexible Connector d.
The elastic telescopic direction of Flexible Connector a is perpendicular to the closed end of U-shaped hook mounting head, and the elastic telescopic direction of Flexible Connector b is then perpendicular to the side arm of U-shaped hook mounting head; The elastic telescopic direction of Flexible Connector c is perpendicular to the closed end of the micro-pawl mounting head of U-shaped, and the elastic telescopic direction of Flexible Connector d is then perpendicular to the side arm of the micro-pawl mounting head of U-shaped.
Another technical purpose of the present invention is to provide a kind of hook mechanism based on the bionical hook assembly of above-mentioned stiffness variable, comprises hook assembly and fixed mount; Described fixed mount comprises hook installation portion and connector; Hook installation portion comprises a U-shaped frame, by equidistantly arranging that dividing plate is to form the groove of hold-down hook claw assembly in this U-shaped frame, hook assembly is placed in groove, and hook assembly is located by connecting by the first location and installation portion in hook mounting head, the second location and installation portion and fixed mount; Sliding connection between hook assembly and groove simultaneously.
The present invention has the characteristic of variable rigidity, and compared with prior art, tool has the following advantages: 1, can realize larger grasp force.The softness set up by Low rigidity spring is connected, best crawl point is found advantageously for pawl point, meanwhile, the elastic deformation of large rigidity spring can produce larger grasp force, the grasp force of each hook in placement unit can be made to distribute more even, the grasp force of single placement unit can be improved to a great extent; 2, grasping movement is more stable.In actual crawl process, indivedual hook in a placement unit and between metope beyond when departing from, under the effect of Low rigidity spring, hook can promptly find second to capture point, and set up rapidly secondary crawl, even if the apparent condition of body of wall is very poor, the grasping movement of single hook is very unstable, and the some hooks in a placement unit alternately can carry out secondary crawl, still can ensure that whole placement unit " sticks " on metope; 3, stiffness parameters setting range is large, and easy to adjust, and this characteristic is of great advantage for the suitable environment widening climbing robot.
The present invention compared with prior art, in grasp force and grasp stability, there is clear superiority, the climbing robot of technical solution of the present invention is adopted not only to may be used for the detection of common building thing, also can be applicable to the life searching work in the detection of Cable-stayed Bridge Pylon wall, the overhead bridge pier detection in remote mountain areas, fire in high buildings and earthquake disaster ruins, the exploration etc. of crag.In addition, region human body being had to intense radiation can also be applied to, as the inspection of nuclear reactor wall, the inspection etc. of large-scale transformation station wall, there is comparatively wide social demand and using value.
Accompanying drawing explanation
Fig. 1 is the structure diagram of a kind of hook assembly in prior art;
In Fig. 1: pawl point 101', hook main body 102', Flexible Connector 103', link span 105', the first revolute pair 106', the second revolute pair 109', limited post 1110';
Fig. 2 is the force characteristic diagram of curves of the hook assembly described in Fig. 1;
Fig. 3 is the structural representation (free state) of hook assembly of the present invention;
Fig. 4 is the structural representation of hook mechanism of the present invention;
Fig. 5 is the force characteristic curve of hook assembly of the present invention;
Fig. 6 is the grasping movement schematic diagram (seized condition) of hook assembly of the present invention;
In Fig. 3-6: hook assembly 1; Hook mounting head 101; Micro-pawl connector 102; Micro-pawl unit 103; Flexible Connector c104; Flexible Connector d105; Second Flexible Connector 106; Flexible Connector b107; Flexible Connector a108; Pawl point 109; Be flexibly connected 110; Limited post 111; Location and installation portion 112; Fixed mount 2; Groove 201.
Detailed description of the invention
Accompanying drawing discloses the structural representation of preferred embodiment involved in the present invention without limitation; Technical scheme of the present invention is explained below with reference to accompanying drawing.
As shown in Figure 3, the hook assembly of the present invention hook that comprises hook mounting head and be connected with hook mounting head elasticity; Described hook comprises micro-pawl connector and more than one micro-pawl unit, and each micro-pawl unit all arranges pawl point; Each micro-pawl unit is that wire is connected in series successively, and the end face outside being positioned at micro-pawl unit of end arranges limited post, be all that elasticity is connected between adjacent two micro-pawl unit, between each micro-pawl unit and the adjacent face of micro-pawl connector, the elasticity coupling stiffness between each constituent elements of simultaneously hook is less than the elasticity coupling stiffness between hook and hook mounting head; Flexible connection head is also provided with between adjacent two micro-pawl unit; Hook is connected with hook mounting head elasticity by the first Flexible Connector; Connected by the second Flexible Connector elasticity between adjacent two micro-pawl unit; Be connected by the 3rd Flexible Connector elasticity between each micro-pawl unit and the adjacent face of micro-pawl connector; The elastic stiffness of the second described Flexible Connector, the 3rd Flexible Connector is all lower than the elastic stiffness of the first Flexible Connector; Wherein:
Hook mounting head 101, in inverted U-shaped structure, is provided with location and installation portion 112 on the right side of framework, is respectively two circular holes that the first location and installation portion, the second location and installation portion are corresponding, is connected on fixed mount 2 by two circular holes;
Micro-pawl connector 102 is in inverted U-shaped structure;
The bottom of micro-pawl unit 103 is provided with pawl point 109, micro-pawl unit has three, be respectively the micro-pawl unit in three, left, center, right to form, be connected by being flexibly connected 110 order between micro-pawl unit, making between adjacent two micro-pawl unit can planar relative motion among a small circle, the left side of the micro-pawl unit in the left side is provided with limited post 111, and the right side of micro-pawl unit on the right is provided with limited post 111;
Described first Flexible Connector comprises Flexible Connector a, Flexible Connector b, between the closed end of the micro-pawl mounting head of described U-shaped and the closed end of U-shaped hook mounting head, Flexible Connector a is connected, and the two side arms of the micro-pawl mounting head of U-shaped, be connected by Flexible Connector b with a side arm adjacent in the two side arms of U-shaped hook mounting head respectively; Described 3rd Flexible Connector comprises Flexible Connector c, Flexible Connector d, the end face outside being positioned at micro-pawl unit of end is connected with adjacent U-shaped micro-pawl mounting head side arm by Flexible Connector c, and each micro-pawl unit is all connected with the closed end of the micro-pawl mounting head of U-shaped by Flexible Connector d; Flexible Connector a is two groups, and Flexible Connector b is also two groups, and a side arm of the micro-pawl mounting head of U-shaped installs one group; Flexible Connector c is two groups, and often group comprises upper and lower two springs and is arranged symmetrically with, and a side arm of the micro-pawl mounting head of U-shaped installs one group; Micro-pawl unit of the present invention is 3, therefore, configure two group of second Flexible Connector, often group comprises upper and lower two springs and is arranged symmetrically with, be placed between two adjacent micro-pawl unit respectively, in addition, micro-pawl unit of the present invention, the second Flexible Connector and Flexible Connector c arrange in the horizontal direction; Flexible Connector d arranges at vertical direction, is three groups, corresponding to three micro-pawl cell layouts.
It can thus be appreciated that, Flexible Connector c, Flexible Connector d and the second Flexible Connector, each micro-pawl unit is flexibly connected in the semi-surrounding inner chamber of the micro-pawl mounting head of U-shaped, wherein, second Flexible Connector completes flexibly connecting between adjacent two micro-pawl unit, and is undertaken spacing by being flexibly connected head; Flexible Connector d completes each micro-pawl unit and flexibly connects in the vertical and between micro-pawl mounting head, and Flexible Connector c then completes flexibly connecting between micro-pawl unit of end and U-shaped micro-pawl mounting head side arm; Then the cooperation of the second Flexible Connector, Flexible Connector c realizes each micro-pawl unit flexibly connecting in the horizontal and between micro-pawl mounting head; Micro-pawl unit, Flexible Connector c, Flexible Connector d and the second Flexible Connector constituent components (being called hook herein), integrally, flexibly connected by Flexible Connector a, Flexible Connector b and U-shaped hook mounting head, wherein: Flexible Connector a completes hook flexibly connecting in the vertical and between U-shaped hook mounting head, and Flexible Connector b completes hook flexibly connecting in the horizontal and between U-shaped hook mounting head.
In accompanying drawing, the Flexible Connector c104 in left side, its left end is connected with the right side rigid phase of micro-pawl connector 102 outside, and the right side rigidity of right-hand member and hook mounting head 101 inside is connected; The left side of Flexible Connector b107 left end and hook mounting head 101 inside is rigidly connected, and the left side of right-hand member and micro-pawl connector 102 outside is rigidly connected; Flexible Connector a108 comprises two groups of springs vertically arranged, two groups of springs are in parallel, and the upper end of Flexible Connector a and the upside of hook mounting head 101 inside are rigidly connected, and the upside of lower end and micro-pawl connector 102 outside is rigidly connected; Micro-pawl connector 102 flexibly connects the inside in hook mounting head 101 by the second Flexible Connector 106, Flexible Connector b107, Flexible Connector a108;
Micro-pawl unit 103 of the present invention can comprise micro-pawl unit of any amount;
Spring of the present invention can be elastomeric material or High molecular material;
As shown in Figure 4, the bionical hook of stiffness variable of the present invention is schistose texture, and hook 101 is arranged between the groove 103 of fixed mount 102, and forms planar movement pair between groove, only can do planar slide in groove, can not produce the distortion of vertical direction.
Variation rigidity force characteristic curve of the present invention as shown in Figure 5, the first half section of curve, the rigidity of spring is very weak, mainly Flexible Connector c104, Flexible Connector d105 and the second Flexible Connector 106 work, because the rigidity of Flexible Connector c104, Flexible Connector d105 and the second Flexible Connector 106 is very little, be conducive to pawl point and find best crawl point flexibly, rapidly.Half section, the right side of curve, the rigidity of spring is larger, the now interior contact of limited post 111 and micro-pawl connector 102, Flexible Connector c104, Flexible Connector d105 and the second Flexible Connector 106 ineffective, mainly Flexible Connector b107 and Flexible Connector a108 works, the rigidity of Flexible Connector b107 and Flexible Connector a108 is comparatively large, is conducive to producing larger grasp force.As can be seen here, this variation rigidity characteristic can be taken into account flexibly, fast searching captures point and the requirement of the larger grasp force these two aspects of generation.
Below in conjunction with Fig. 3, Fig. 6, the principle of variation rigidity characteristic of the present invention is described in detail, according to general service condition analysis, two micro-pawl unit pawls points that are middle and right side have caught on the coarse projection of metope, and be in stable seized condition, now, on the pawl point of these two micro-pawl unit, produce grasp force F.Middle drive together with micro-pawl unit in left side with two micro-pawl unit on right side is moved to the left, make Flexible Connector c104, the second Flexible Connector 106 produce elastic compression distortion, Flexible Connector d105 also can produce corresponding distortion, when spacing touch link span inner right side time, Flexible Connector c104, the second Flexible Connector 106, Flexible Connector d105 are ineffective; Along with the continuation of grasping movement, grasp force F increases further, micro-pawl unit will drive micro-pawl connector together to left movement, the Flexible Connector b107 on right side is made to produce elastic stretching distortion, the Flexible Connector b107 in left side produces elastic compression distortion, and meanwhile Flexible Connector a108 produces corresponding elastic deformation.Because the rigidity of Flexible Connector b107, Flexible Connector a108 is comparatively large, therefore, less compress variation is only needed can to produce enough grasp forces.According to Fig. 3, (grasping mechanism does not work, when each spring is in free state), (grasping mechanism carries out crawl work to Fig. 6, when each spring is in elastic deformation) contrast known: in whole crawl process, position and the attitude of each parts all there occurs change, and corresponding each spring all creates elastic deformation.
The achievement in research of bionics, theory of structure, theory of mechanisms is applied to the design of the hook of climbing robot by the present invention, certain innovation has been carried out in the configuration aspects of hook, provide a kind of structure simpler, exquisite, cost is lower, more be easy to manufacture, grasp force is larger, the crawl hook of the better climbing robot of stability, for the experimental prototype trial-production of intelligent bionic climbing robot and the popularization of practical application all significant.
Claims (5)
1. the bionical hook assembly of stiffness variable, the hook comprising hook mounting head and be connected with hook mounting head elasticity; It is characterized in that: described hook comprises micro-pawl connector and more than one micro-pawl unit, and each micro-pawl unit all arranges pawl point; Each micro-pawl unit is that wire is connected in series successively, and the end face outside being positioned at micro-pawl unit of end arranges limited post, be all that elasticity is connected between adjacent two micro-pawl unit, between each micro-pawl unit and the adjacent face of micro-pawl connector, the elasticity coupling stiffness between each constituent elements of simultaneously hook is less than the elasticity coupling stiffness between hook and hook mounting head; Flexible connection head is also provided with between adjacent two micro-pawl unit.
2. the bionical hook assembly of stiffness variable according to claim 1, is characterized in that: hook is connected with hook mounting head elasticity by the first Flexible Connector; Connected by the second Flexible Connector elasticity between adjacent two micro-pawl unit; Be connected by the 3rd Flexible Connector elasticity between each micro-pawl unit and the adjacent face of micro-pawl connector; The elastic stiffness of the second described Flexible Connector, the 3rd Flexible Connector is all lower than the elastic stiffness of the first Flexible Connector.
3. the bionical hook assembly of stiffness variable according to claim 2, is characterized in that: described hook mounting head and micro-pawl mounting head all take the shape of the letter U shape; The micro-pawl mounting head of described U-shaped is placed in U-shaped hook mounting head; Described first Flexible Connector comprises Flexible Connector a, Flexible Connector b, between the closed end of the micro-pawl mounting head of described U-shaped and the closed end of U-shaped hook mounting head, Flexible Connector a is connected, and the two side arms of the micro-pawl mounting head of U-shaped, be connected by Flexible Connector b with a side arm adjacent in the two side arms of U-shaped hook mounting head respectively; Described 3rd Flexible Connector comprises Flexible Connector c, Flexible Connector d, the end face outside being positioned at micro-pawl unit of end is connected with adjacent U-shaped micro-pawl mounting head side arm by Flexible Connector c, and each micro-pawl unit is all connected with the closed end of the micro-pawl mounting head of U-shaped by Flexible Connector d.
4. the bionical hook assembly of stiffness variable according to claim 3, it is characterized in that: the elastic telescopic direction of Flexible Connector a is perpendicular to the closed end of U-shaped hook mounting head, and the elastic telescopic direction of Flexible Connector b is then perpendicular to the side arm of U-shaped hook mounting head; The elastic telescopic direction of Flexible Connector c is perpendicular to the closed end of the micro-pawl mounting head of U-shaped, and the elastic telescopic direction of Flexible Connector d is then perpendicular to the side arm of the micro-pawl mounting head of U-shaped.
5. based on a hook mechanism for the bionical hook assembly of stiffness variable according to claim 1, it is characterized in that: comprise hook assembly and fixed mount; Described fixed mount comprises hook installation portion and connector; Hook installation portion comprises a U-shaped frame, by equidistantly arranging that dividing plate is to form the groove of hold-down hook claw assembly in this U-shaped frame, hook assembly is placed in groove, and hook assembly is located by connecting by the first location and installation portion in hook mounting head, the second location and installation portion and fixed mount; Sliding connection between hook assembly and groove simultaneously.
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| CN201410454237.7A CN104354781B (en) | 2014-09-05 | 2014-09-05 | Stiffness variable bionical hook mechanism and hook assembly thereof |
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| CN201410454237.7A CN104354781B (en) | 2014-09-05 | 2014-09-05 | Stiffness variable bionical hook mechanism and hook assembly thereof |
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| CN104354781A true CN104354781A (en) | 2015-02-18 |
| CN104354781B CN104354781B (en) | 2016-08-17 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104670358A (en) * | 2015-03-09 | 2015-06-03 | 南京邮电大学 | Hook claw with controllable force and angle based on pneumatic artificial muscle |
| CN109834704A (en) * | 2019-01-22 | 2019-06-04 | 广东工业大学 | A kind of imitative looper Alcula type end gripper |
| CN110561482A (en) * | 2019-08-27 | 2019-12-13 | 南京理工大学 | Bionic flexible claw thorn type opposite grabbing mechanism |
| CN110641572A (en) * | 2019-09-29 | 2020-01-03 | 西安理工大学 | Bionic flexible claw thorn array foot with adjustable adhesion state |
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| WO2005102617A1 (en) * | 2004-04-27 | 2005-11-03 | Carl Zeiss Jena Gmbh | Gripper |
| CN101898357A (en) * | 2010-07-02 | 2010-12-01 | 华南理工大学 | Modularized bionic wall climbing robot |
| US20120031218A1 (en) * | 2010-08-03 | 2012-02-09 | The Trustees Of The University Of Pennsylvania | Variable stiffness leg structure for multipede running robots |
| CN103043132A (en) * | 2012-12-06 | 2013-04-17 | 南京邮电大学 | Claw-grasping type vibrating wall climbing robot |
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| WO2005102617A1 (en) * | 2004-04-27 | 2005-11-03 | Carl Zeiss Jena Gmbh | Gripper |
| CN101898357A (en) * | 2010-07-02 | 2010-12-01 | 华南理工大学 | Modularized bionic wall climbing robot |
| US20120031218A1 (en) * | 2010-08-03 | 2012-02-09 | The Trustees Of The University Of Pennsylvania | Variable stiffness leg structure for multipede running robots |
| CN103043132A (en) * | 2012-12-06 | 2013-04-17 | 南京邮电大学 | Claw-grasping type vibrating wall climbing robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104670358A (en) * | 2015-03-09 | 2015-06-03 | 南京邮电大学 | Hook claw with controllable force and angle based on pneumatic artificial muscle |
| CN104670358B (en) * | 2015-03-09 | 2017-08-01 | 南京邮电大学 | A kind of power based on Pneumatic artificial muscle, the controllable hook of angle |
| CN109834704A (en) * | 2019-01-22 | 2019-06-04 | 广东工业大学 | A kind of imitative looper Alcula type end gripper |
| CN109834704B (en) * | 2019-01-22 | 2023-10-03 | 广东工业大学 | Inchworm-imitating claw-type tail end clamp |
| CN110561482A (en) * | 2019-08-27 | 2019-12-13 | 南京理工大学 | Bionic flexible claw thorn type opposite grabbing mechanism |
| CN110641572A (en) * | 2019-09-29 | 2020-01-03 | 西安理工大学 | Bionic flexible claw thorn array foot with adjustable adhesion state |
| CN110641572B (en) * | 2019-09-29 | 2021-09-10 | 西安理工大学 | Bionic flexible claw thorn array foot with adjustable adhesion state |
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| Publication number | Publication date |
|---|---|
| CN104354781B (en) | 2016-08-17 |
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