CN104354781B - Stiffness variable bionical hook mechanism and hook assembly thereof - Google Patents
Stiffness variable bionical hook mechanism and hook assembly thereof Download PDFInfo
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- CN104354781B CN104354781B CN201410454237.7A CN201410454237A CN104354781B CN 104354781 B CN104354781 B CN 104354781B CN 201410454237 A CN201410454237 A CN 201410454237A CN 104354781 B CN104354781 B CN 104354781B
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- 210000000078 claw Anatomy 0.000 claims description 5
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Classifications
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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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- Transportation (AREA)
- Mechanical Engineering (AREA)
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- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
Abstract
The invention discloses a kind of stiffness variable bionical hook mechanism and hook assembly thereof；This hook assembly, including hook mounting head and the hook that is connected with hook mounting head elasticity；Described hook includes micro-ZHUANLIAN joint and more than one micro-pawl unit, and each micro-pawl unit is respectively provided with pawl point；Each micro-pawl unit is that wire is sequentially connected in series, and the end face outside being positioned at micro-pawl unit of end arranges limited post, being all elastic connection between two adjacent micro-pawl unit, between each micro-pawl unit and the adjacent face of micro-ZHUANLIAN joint, the elastic coupling stiffness between each building block of hook is less than the elastic coupling stiffness between hook and hook mounting head simultaneously；It is additionally provided with flexible connection head between adjacent two micro-pawl unit.It can thus be appreciated that: the variation rigidity characteristic of hook assembly of the present invention can be greatly improved the stability that climbing robot captures, it is possible to provide bigger grasp force, it is possible to adapt to increasingly complex working environment, has wider array of range of application.
Description
Technical field
The crawl hook that the present invention relates to high vacant building rough surface climbing robot (such as rough concrete wall, hangs
Precipice face, granitic plaster wall), particularly relate to a kind of can to stablize, effectively realize high vacant building wall is captured variable just
Degree hook, belongs to Intelligent bionic machinery people field.
Background technology
At present, climbing robot has been widely used for the detection work of hydraulically smooth surface, but for rough concrete, side
, not yet there is preferable adsorption method in brick and the dust that rock is material is more, be in the high-altitude wall of small size low-frequency vibration.Closely
Nian Lai, domestic high-altitude building accident is of common occurrence, such as Hunan phoenix bridge bridge collapse accident in 2007, Changzhou highway in 2007
Bridge caves in, Harbin in 2012 sun bright stand bridge fracture, Henan Yi Chang bridge cave-in accident in 2013, etc..Therefore, to high-altitude
It is significant that building carries out periodic detection, and the cycle of manual detection is long, and dangerous high, difficulty is big, develops special
High vacant building measuring robots replace manual detection work become inevitable requirement.
Different from conventional magnetic suck, vacuum, negative-pressure adsorption mode, the suction of robot that this patent is proposed and coarse metope
Subsidiary formula formula is to be realized the grasping movement of metope by hook, and its action principle climbs metope with Blatta seu periplaneta, hornet, beetle etc.
Principle essentially identical, hook is equivalent to the claw of toy.Hook and the grasp force of metope and stability are by hook self
The impact of all many factors such as structure, the apparent condition of metope, external disturbance load, the mechanism of action is extremely complex.Alcula type
Suction type, as the most crucial technology of high vacant building climbing robot, realizes stable, efficient, safe climbing to robot
Climb operation and there is decisive role.
One placement unit generally comprises multiple hook, and these hooks are assembled together by fixed mount parallel connection, each hook
Pawl can self-movement in certain scope.By each hook little range motion on respective position, pawl point can be made
It is fitted on metope and finds respective most suitable crawl point, it is achieved stable crawl.
Fig. 1 discloses the structure diagram of a kind of hook assembly in prior art, and this hook assembly includes pawl point 101', hook
Main body 102', Flexible Connector 103'(spring), link 105', the first revolute pair 106', the second revolute pair 109', limited post
1110'；When pawl point presses close to metope, due to the effect that flexibly connects of Flexible Connector 103', pawl point can move in little scope
Dynamic, pawl point is fitted on coarse metope motion, seeks most preferably to capture a little；Along with the continuation of grasping movement, grasp force F gradually increases
Greatly, Flexible Connector 103' is further stretched, and meanwhile hook tip divides and moves to the right, when diagram distanceIt is compressed to
When 0, pawl point moves arrival extreme position to the right.
As shown in Figure 2, the Main Function of Flexible Connector 103' provides necessity for finding the optimal point that captures neatly
Low rigidity flexible support, and grasp force is mainly by the spacing offer of rigidity.The hook of this structure has the permanent rigidity of approximation
Characteristic, simple in construction, overall dimensions are small and exquisite, process for machining and manufacturing difficulty is low, and relatively big in some metope roughness, apparent condition is relatively
Apply very wide in the case of Hao, but have the disadvantage that
1, the rigidity of Flexible Connector 103' is the least, and grasp force is mainly by the spacing offer of rigidity, owing to one captures single
The optimal crawl position of the some hooks in unit is different, and the elongation of the Flexible Connector 103' of each hook is different, indivedual hooks
The pawl point of pawl has been positioned at extreme displacement, and the pawl point of some hooks does not reach the limit of position, which results in placement unit
In the grasp force that provided of multiple hooks uneven, the grasp force of some hooks is very big, and some hook effects are less, even lead
Causing only other one or two hook in a placement unit to work, the grasp force that single placement unit is provided is less；
2, the active force between pawl point and metope convex and concave feature is complex, the disturbance of external environmental factor and metope self
The uncertainty of microstructure intensity can cause pawl point to depart from metope, uses this technical scheme once grabbing between hook and metope
Take disengaging, it is more difficult to set up secondary and capture, cause the stability of grasping movement to decline, easily cause the peace that robot falls from metope
Full accident；
3, stiffness equivalent scope is little, adjust inconvenience, constrains the scope of application of climbing robot.
Summary of the invention
The present invention is directed to the problems referred to above, from bionic structure angle, by toys such as Blatta seu periplaneta, hornet, beetles
Claw structure and the research of motion feature, devise a kind of stiffness variable bionical hook assembly；Steel claw assembly of the present invention
Variation rigidity characteristic can be greatly improved the stability that climbing robot captures, it is possible to provide bigger grasp force, it is possible to adapts to more
Complex work environment, has wider array of range of application.
For realizing above technical purpose, the present invention will take following technical scheme:
A kind of stiffness variable bionical hook assembly, including hook mounting head and the hook that is connected with hook mounting head elasticity
Pawl；Described hook includes micro-ZHUANLIAN joint and more than one micro-pawl unit, and each micro-pawl unit is respectively provided with pawl point；Each micro-
Pawl unit is that wire is sequentially connected in series, and the end face outside being positioned at micro-pawl unit of end arranges limited post, two adjacent micro-pawls
It is all elastic connection between unit, between each micro-pawl unit and the adjacent face of micro-ZHUANLIAN joint, each composition portion of hook simultaneously
Elastic coupling stiffness between part is less than the elastic coupling stiffness between hook and hook mounting head；Adjacent two micro-pawl unit it
Between be additionally provided with flexible connection head.
Hook is connected with hook mounting head elasticity by the first Flexible Connector；Pass through between two adjacent micro-pawl unit
Second Flexible Connector elasticity connects；By the 3rd Flexible Connector between each micro-pawl unit and the adjacent face of micro-ZHUANLIAN joint
Elastic connection；Described the second Flexible Connector, the elastic stiffness of the 3rd Flexible Connector are below the first Flexible Connector
Elastic stiffness.
Described hook mounting head and micro-pawl mounting head all take the shape of the letter U shape；Described U-shaped micro-pawl mounting head is placed in U-shaped hook pawl peace
In dress head；Described first Flexible Connector includes Flexible Connector a, Flexible Connector b, the closing of described U-shaped micro-pawl mounting head
Between end and the blind end of U-shaped hook pawl mounting head, Flexible Connector a is connected, and the two side arms of U-shaped micro-pawl mounting head, respectively with U
A side arm adjacent in the two side arms of shape hook mounting head is connected by Flexible Connector b；Described 3rd Flexible Connector bag
Including Flexible Connector c, Flexible Connector d, the end face outside of the micro-pawl unit being positioned at end passes through Flexible Connector c with adjacent
U-shaped micro-pawl mounting head side arm connects, and each micro-pawl unit is all by the blind end of Flexible Connector d Yu U-shaped micro-pawl mounting head
Connect.
The elastic telescopic direction of Flexible Connector a is perpendicular to the blind end of U-shaped hook pawl mounting head, and Flexible Connector b
Elastic telescopic direction is then perpendicular to the side arm of U-shaped hook pawl mounting head；It is micro-that the elastic telescopic direction of Flexible Connector c is perpendicular to U-shaped
The blind end of pawl mounting head, the elastic telescopic direction of Flexible Connector d is then perpendicular to the side arm of U-shaped micro-pawl mounting head.
Another technical purpose of the present invention is to provide a kind of hook machine based on above-mentioned stiffness variable bionical hook assembly
Structure, including hook assembly and fixed mount；Described fixed mount includes hook installation portion and union joint；Hook installation portion includes a U
Shape frame, by being equally spaced the dividing plate groove with formation hold-down hook claw assembly in this U-frame, hook assembly is placed in groove,
And hook assembly is located by connecting with fixed mount by the first location and installation portion in hook mounting head, the second location and installation portion；With
Time hook assembly and groove between sliding connection.
The present invention has the characteristic of variable rigidity, compared with prior art, has the advantage that 1, can realize bigger grabbing
Power taking.The softness set up by Low rigidity spring is connected, and finds optimal crawl advantageously for pawl point, same with this
Time, the elastic deformation of big rigid spring can produce bigger grasp force, it is possible to makes the grasp force of each hook in placement unit
Distribution is more uniform, can improve the grasp force of single placement unit to a great extent；2, grasping movement is more stable.In reality
During crawl, between indivedual hooks in a placement unit and metope beyond when departing from, under the effect of Low rigidity spring
Hook can quickly find second and capture point, and sets up rapidly secondary crawl, even if the apparent condition of body of wall is very poor, single
The grasping movement of individual hook is the most unstable, and the some hooks in a placement unit can be alternately carried out secondary and capture, still
Ensure that whole placement unit " sticks " on metope；3, stiffness parameters adjusting range is big, and easy to adjust, this characteristic for
The suitable environment widening climbing robot is of great advantage.
The present invention compared with prior art, has clear superiority in terms of grasp force and grasp stability, uses the present invention
The climbing robot of technical scheme can be not only used for the detection of common building thing, applies also for the inspection of Cable-stayed Bridge Pylon wall
Life searching work in survey, the detection of the overhead bridge pier in remote mountain areas, fire in high buildings and earthquake disaster ruins, the exploration of overhanging cliff
Deng.Furthermore it is also possible to be applied to the region that human body is had intense radiation, such as inspection, the large-scale transformation station wall of nuclear reactor wall
Inspection etc., there is the most wide social need 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 105', the first revolute pair 106',
Second revolute pair 109', limited post 1110'；
Fig. 2 is the force characteristic curve chart 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-ZHUANLIAN joint 102；Micro-pawl unit 103；Flexible Connector
c104；Flexible Connector d105；Second Flexible Connector 106；Flexible Connector b107；Flexible Connector a108；Pawl point 109；
Flexible connection 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；Below with reference to accompanying drawing
Explain technical scheme.
As it is shown on figure 3, hook assembly of the present invention includes hook mounting head and is connected with hook mounting head elasticity
Hook；Described hook includes micro-ZHUANLIAN joint and more than one micro-pawl unit, and each micro-pawl unit is respectively provided with pawl point；
Each micro-pawl unit is that wire is sequentially connected in series, and the end face outside being positioned at micro-pawl unit of end arranges limited post, adjacent two
It is all elastic connection between micro-pawl unit, between each micro-pawl unit and the adjacent face of micro-ZHUANLIAN joint, each group of hook simultaneously
Become the elastic coupling stiffness between parts less than the elastic coupling stiffness between hook and hook mounting head；Adjacent two micro-pawl lists
Flexible connection head it is additionally provided with between unit；Hook is connected with hook mounting head elasticity by the first Flexible Connector；Adjacent two
Connected by the second Flexible Connector elasticity between individual micro-pawl unit；Between each micro-pawl unit and the adjacent face of micro-ZHUANLIAN joint
Connected by the 3rd Flexible Connector elasticity；Described the second Flexible Connector, the elastic stiffness of the 3rd Flexible Connector are the lowest
Elastic stiffness in 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, and respectively
Two circular holes that one location installation portion, the second location and installation portion is corresponding, are connected on fixed mount 2 by two circular holes；
Micro-ZHUANLIAN joint 102 is in inverted U-shaped structure；
The bottom of micro-pawl unit 103 is provided with pawl point 109, and micro-pawl unit has three, respectively the micro-pawl in three, left, center, right
Unit is constituted, connected by being flexibly connected 110 order between micro-pawl unit so that can be flat between adjacent two micro-pawl unit
The relative motion of little scope in face, the left side of the left side micro-pawl unit is provided with limited post 111, and the right side of micro-pawl unit on the right sets
It is equipped with limited post 111；
Described first Flexible Connector includes Flexible Connector a, Flexible Connector b, the closing of described U-shaped micro-pawl mounting head
Between end and the blind end of U-shaped hook pawl mounting head, Flexible Connector a is connected, and the two side arms of U-shaped micro-pawl mounting head, respectively with U
A side arm adjacent in the two side arms of shape hook mounting head is connected by Flexible Connector b；Described 3rd Flexible Connector bag
Including Flexible Connector c, Flexible Connector d, the end face outside of the micro-pawl unit being positioned at end passes through Flexible Connector c with adjacent
U-shaped micro-pawl mounting head side arm connects, and each micro-pawl unit is all by the blind end of Flexible Connector d Yu U-shaped micro-pawl mounting head
Connect；Flexible Connector a is two groups, and Flexible Connector b is also two groups, and a side arm of U-shaped micro-pawl mounting head installs one group；Bullet
Property connector c be two groups, often group includes upper and lower two springs and is arranged symmetrically with, and side arm of U-shaped micro-pawl mounting head installs one
Group；Micro-pawl unit of the present invention is 3, therefore, configures two group of second Flexible Connector, and often group includes upper and lower two springs
And be arranged symmetrically with, it is respectively placed between adjacent two micro-pawl unit, it addition, micro-pawl unit of the present invention, the second elasticity are even
Fitting and Flexible Connector c arrange in the horizontal direction；Flexible Connector d arranges at vertical direction, is three groups, corresponding to three
Micro-pawl unit is arranged.
It follows that Flexible Connector c, Flexible Connector d and the second Flexible Connector, by each micro-pawl unit flexibility even
Receiving in the semi-surrounding inner chamber of U-shaped micro-pawl mounting head, wherein, the second Flexible Connector completes between adjacent two micro-pawl unit
Flexibly connect, and carry out spacing by being flexibly connected head；Flexible Connector d completes each micro-pawl unit and installs with micro-pawl in the vertical
Flexibly connecting between Tou, Flexible Connector c then completes the flexibility between micro-pawl unit of end and U-shaped micro-pawl mounting head side arm even
Connect；Then the second Flexible Connector, the cooperation of Flexible Connector c realize each micro-pawl unit in the horizontal and between micro-pawl mounting head
Flexibly connect；Micro-pawl unit, Flexible Connector c, Flexible Connector d and the second Flexible Connector constituent components are (referred to herein as
Hook), as an entirety, flexibly connected, wherein with U-shaped hook pawl mounting head by Flexible Connector a, Flexible Connector b: bullet
Property connector a completes hook flexibly connecting in the vertical and between U-shaped hook pawl mounting head, and Flexible Connector b completes hook
Flexibly connecting in the horizontal and between U-shaped hook pawl mounting head.
In accompanying drawing, the Flexible Connector c104 in left side, its left end is rigidly connected with the right side outside micro-ZHUANLIAN joint 102
Connecing, right-hand member is connected with the right side rigidity within hook mounting head 101；In Flexible Connector b107 left end and hook mounting head 101
The left side in portion is rigidly connected, and right-hand member is rigidly connected with the left side outside micro-ZHUANLIAN joint 102；Flexible Connector a108 includes two groups
The spring vertically arranged, two groups of springs are in parallel, and the upper end of Flexible Connector a is with the upside rigidity within hook mounting head 101 even
Connecing, lower end is rigidly connected with the upside outside micro-ZHUANLIAN joint 102；Micro-ZHUANLIAN joint 102 by the second Flexible Connector 106,
Flexible Connector b107, Flexible Connector a108 flexibly connect in the inside of hook mounting head 101；
Micro-pawl unit 103 of the present invention can comprise any number of micro-pawl unit；
The spring of the present invention can be elastomeric material or macromolecular material；
As shown in Figure 4, the bionical hook of stiffness variable of the present invention is laminated structure, and hook 101 is arranged at fixed mount 102
Between groove 103, and it is secondary to constitute planar movement between groove, is only capable of doing planar slide in groove, will not produce vertical direction
Deformation.
The variation rigidity force characteristic curve of the present invention is as it is shown in figure 5, the first half section of curve, and the rigidity of spring is the most weak, mainly
Flexible Connector c104, Flexible Connector d105 and the second Flexible Connector 106 work, due to Flexible Connector c104,
The rigidity of Flexible Connector d105 and the second Flexible Connector 106 is the least, beneficially pawl point flexibly, be quickly found and most preferably grab
Take a little.Half section of the right side of curve, the rigidity of spring is relatively big, and now limited post 111 and the interior contact of micro-ZHUANLIAN joint 102, elastic
Connector c104, Flexible Connector d105 and the second Flexible Connector 106 are ineffective, mainly Flexible Connector b107 with
And Flexible Connector a108 works, the rigidity of Flexible Connector b107 and Flexible Connector a108 is relatively big, is conducive to producing
Bigger grasp force.As can be seen here, this variation rigidity characteristic can be taken into account flexibly, fast searching captures point and produces bigger grasp force
The requirement of these two aspects.
Below in conjunction with Fig. 3, Fig. 6, the principle of the variation rigidity characteristic of the present invention is described in detail, according to general work
Situation analysis, middle two micro-pawl unit pawl points with right side have caught on the coarse projection of metope, and have been in stable crawl shape
State, now, on the pawl point of the two micro-pawl unit, produces grasp force F.On the left of middle and right side two micro-pawl unit drive
Micro-pawl unit move the most to the left so that Flexible Connector c104, the second Flexible Connector 106 produce elastic compression become
Shape, Flexible Connector d105 also can produce corresponding deformation, when spacing touch link 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 enters one
Step increases, and micro-pawl unit will drive micro-ZHUANLIAN joint together to left movement so that the Flexible Connector b107 on right side produces elasticity
Stretcher strain, the Flexible Connector b107 in left side produces elastic compression deformation, and meanwhile Flexible Connector a108 produces corresponding
Elastic deformation.Owing to the rigidity of Flexible Connector b107, Flexible Connector a108 is relatively big, therefore, less compression is only needed to become
Shape amount can produce enough grasp forces.(grab according to Fig. 3 (grasping mechanism does not works, when each spring is in free state), Fig. 6
Take mechanism carry out capture work, when each spring is in elastic deformation) contrast understand: during whole crawl, each portion
The position of part and attitude all there occurs that change, corresponding each spring all create elastic deformation.
Bionics, structural mechanics, the achievement in research of theory of mechanisms are applied to the design of the hook of climbing robot by the present invention,
Configuration aspects at hook has carried out certain innovation, it is provided that a kind of structure is simpler, exquisite, and cost is lower, more easily
In manufacture, grasp force is bigger, and the crawl hook of the more preferable climbing robot of stability, for the reality of intelligent bionic climbing robot
The popularization testing advanced development and actual application is respectively provided with significance.
Claims (5)
1. a stiffness variable bionical hook assembly, including hook mounting head and the hook that is connected with hook mounting head elasticity；
It is characterized in that: described hook includes micro-ZHUANLIAN joint and more than one micro-pawl unit, and each micro-pawl unit is respectively provided with
Pawl point；Each micro-pawl unit is that wire is sequentially connected in series, and the end face outside being positioned at micro-pawl unit of end arranges limited post, adjacent
Two micro-pawl unit between, be all elastic connection between each micro-pawl unit and the adjacent face of micro-ZHUANLIAN joint, hook simultaneously
Each building block between elastic coupling stiffness less than elastic coupling stiffness between hook and hook mounting head；Adjacent two
It is additionally provided with flexible connection head between individual micro-pawl unit.
Stiffness variable bionical hook assembly the most according to claim 1, it is characterised in that: hook is by the first elastic connection
Part is connected with hook mounting head elasticity；Connected by the second Flexible Connector elasticity between two adjacent micro-pawl unit；Respectively
It is connected by the 3rd Flexible Connector elasticity between micro-pawl unit and the adjacent face of micro-ZHUANLIAN joint；Described second is elastic
Connector, the elastic stiffness of the 3rd Flexible Connector are below the elastic stiffness of the first Flexible Connector.
Stiffness variable bionical hook assembly the most according to claim 2, it is characterised in that: described hook mounting head and micro-
ZHUANLIAN joint all takes the shape of the letter U shape；Described U-shaped micro-ZHUANLIAN joint is placed in U-shaped hook pawl mounting head；Described first Flexible Connector bag
Include the envelope of Flexible Connector a, Flexible Connector b, the blind end of described U shape micro-ZHUANLIAN joint and U shape hook mounting head
Connected by Flexible Connector a between closed end, and the two side arms of U shape micro-ZHUANLIAN joint, respectively with U shape hook mounting head
Two side arms in an adjacent side arm connected by Flexible Connector b；Described 3rd Flexible Connector includes elastic connection
Part c, Flexible Connector d, the end face outside of the micro-pawl unit being positioned at end is micro-with adjacent U shape by Flexible Connector c
ZHUANLIAN joint side arm connects, and each micro-pawl unit is all connected by the blind end of Flexible Connector d with U shape micro-ZHUANLIAN joint
Connect.
Stiffness variable bionical hook assembly the most according to claim 3, it is characterised in that: the elasticity of Flexible Connector a is stretched
Contracting direction is perpendicular to the blind end of U shape hook mounting head, and the elastic telescopic direction of Flexible Connector b is then perpendicular to U
The side arm of shape hook mounting head；The elastic telescopic direction of Flexible Connector c is perpendicular to the side arm of U shape micro-ZHUANLIAN joint, and bullet
The elastic telescopic direction of property connector d is then perpendicular to the blind end of U-shaped micro-ZHUANLIAN joint.
5. a hook mechanism based on the bionical hook assembly of the stiffness variable described in claim 1, it is characterised in that: include
Hook assembly and fixed mount；Described fixed mount includes hook installation portion and union joint；Hook installation portion includes a U shape
Frame, by being equally spaced the dividing plate groove with formation hold-down hook claw assembly in this U shape frame, hook assembly is placed in groove, and
Hook assembly is located by connecting with fixed mount by the first location and installation portion in hook mounting head, the second location and installation portion；Simultaneously
Sliding connection between hook assembly and groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410454237.7A CN104354781B (en) | 2014-09-05 | 2014-09-05 | Stiffness variable bionical hook mechanism and hook assembly thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410454237.7A CN104354781B (en) | 2014-09-05 | 2014-09-05 | Stiffness variable bionical hook mechanism and hook assembly thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104354781A CN104354781A (en) | 2015-02-18 |
| CN104354781B true CN104354781B (en) | 2016-08-17 |
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| 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 |
| 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 |
| 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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| CN101898357A (en) * | 2010-07-02 | 2010-12-01 | 华南理工大学 | Modularized bionic wall climbing robot |
| CN103043132A (en) * | 2012-12-06 | 2013-04-17 | 南京邮电大学 | Claw-grasping type vibrating wall climbing robot |
| CN204309921U (en) * | 2014-09-05 | 2015-05-06 | 南京邮电大学 | The bionical hook mechanism of stiffness variable and hook assembly thereof |
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| DE102004020590A1 (en) * | 2004-04-27 | 2005-11-17 | Carl Zeiss Jena Gmbh | gripping device |
| US8789630B2 (en) * | 2010-08-03 | 2014-07-29 | The Trustees Of The University Of Pennsylvania | Variable stiffness leg structure for multipede running robots |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101898357A (en) * | 2010-07-02 | 2010-12-01 | 华南理工大学 | Modularized bionic wall climbing robot |
| CN103043132A (en) * | 2012-12-06 | 2013-04-17 | 南京邮电大学 | Claw-grasping type vibrating wall climbing robot |
| CN204309921U (en) * | 2014-09-05 | 2015-05-06 | 南京邮电大学 | The bionical hook mechanism of stiffness variable and hook assembly thereof |
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