CN108438080A - A kind of Upon Flexible Adhesion mechanism with profile-followed ability - Google Patents
A kind of Upon Flexible Adhesion mechanism with profile-followed ability Download PDFInfo
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- CN108438080A CN108438080A CN201810527230.1A CN201810527230A CN108438080A CN 108438080 A CN108438080 A CN 108438080A CN 201810527230 A CN201810527230 A CN 201810527230A CN 108438080 A CN108438080 A CN 108438080A
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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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Abstract
The present invention relates to a kind of Upon Flexible Adhesion mechanisms with profile-followed ability, including control unit, line driving unit and its supplementary structure and attachment bio-mechanism unit, described control unit uses microcontroller and several switches, control line driving unit and its auxiliary body, final control attachment bio-mechanism unit realize function；Whether the state that microcontroller is switched by dynamic scan works to decision mechanism, controls push-pull electromagnet respectively and is connected with the motor of sheave；The division of push-pull electromagnet and the rotation of motor are all directly changed the state for the steel wire rope being attached thereto, and attachment bio-mechanism unit is driven to do corresponding movement.The present invention has good operating stability, the characteristics of working adhesive force greatly and can adapt to certain terrain environment.Meanwhile mechanism is also used as an open platform, is correspondingly improved, and end effector of robot can be increased, and makes its function more abundant.
Description
Technical field
The present invention relates to a kind of Upon Flexible Adhesion mechanisms with profile-followed ability, belong to robot field.
Background technology
Robot technology is widely used in each neck of society as one of greatest invention of 20th century mankind
Domain.Due to the Work Limitations of traditional robot, specialized robot for various purposes emerges one after another, and just with very fast speed
It is strided forward to functionization.The Nature is always man invented man and engineers are inexhaustible, source of nexhaustible inspiration.Research
Person according to organism structures such as trunk, octopus tentacle and snakes, has developed a variety of bio-robots, such as Festo companies
Imitative trunk flexible mechanical arm, the snake-shaped robots of OC Robotics companies, Vanderbilt universities the snakelike machine of more backbones
Device people etc..Currently, the attachment mechanism based on pawl thorn, such as the SpinybotII robots of Stanford universities, Boston
The Rise Series machine people of Dynamics, can only move in the plane, poor in the attachment with the shape of complex surface.The present invention proposes
Attachment bio-mechanism circumferentially arrange, in addition unique line driving mechanism, can realize grasp motion, greatly improve pawl
The affixing probability of thorn and the profile-followed ability of complete machine.
Invention content
The present invention overcomes the shortcomings of prior art, it is proposed that a kind of Upon Flexible Adhesion mechanism with profile-followed ability has
Good operating stability, the characteristics of working adhesive force greatly and can adapt to certain terrain environment.Meanwhile mechanism is also used as one
A open platform, is correspondingly improved, and end effector of robot can be increased, and makes its function more abundant.
In order to achieve the above objectives, the present invention adopts the following technical scheme that：
A kind of Upon Flexible Adhesion mechanism with profile-followed ability, including control unit, line driving unit and its supplementary structure and attachment
Bio-mechanism unit, described control unit use microcontroller and several switches, control line driving unit and its auxiliary body, most
Control attachment bio-mechanism unit realizes function eventually；The state that microcontroller is switched by dynamic scan to decision mechanism whether work
Make, control push-pull electromagnet respectively and is connected with the motor of sheave；The division of push-pull electromagnet and the rotation of motor, all
It is directly changed the state for the steel wire rope being attached thereto, attachment bio-mechanism unit is driven to do corresponding movement.
The line driving unit and its supplementary structure include interior hoisting mechanism, outer hoisting mechanism and promotion supplementary structure；
The interior hoisting mechanism include sheave, motor, inner cylinder, lower adapter ring, optical axis, linear bearing, positioning bearing, motor rack, shaft bearing plate,
Eye bolt, interior enhancing ring, the first bleed screw, the first spring；The motor is fixed on motor rack, and motor rack is fixed on axis
On board, the output shaft fixed sheave of the motor, sheave is traction sheave, is connected with steel wire rope, and the other end of steel wire rope passes through
Eye bolt is fixed on the first bleed screw, centered on promoting ring center within the first bleed screw, is uniformly distributed and is fixed on
On interior enhancing ring, the first spring is hung on each first bleed screw, is connected on the first spring and is laid out from V-groove bearing
Steel wire rope；Fixed there are two linear bearing on interior enhancing ring, two linear bearings can be slided along two optical axises respectively, optical axis
Both ends respectively with positioning bearing fit, the positioning bearing of one end is fixed on inner cylinder, and other end of positioning bearing is fixed on
On shaft bearing plate, shaft bearing plate is connected by the first bolt with inner cylinder, and lower adapter ring is fixed on inner cylinder bottom；The outer hoisting mechanism includes
Outer enhancing ring, the second bleed screw, second spring, push-pull electromagnet have gap between the outer enhancing ring and inner cylinder, carry outside
It rises and is uniformly distributed the second bleed screw around its center on ring；Push-pull electromagnet is bolted outer enhancing ring by second and connects,
The upper end is equipped with second spring, and lower end, which is threaded, to be connected to by nut on inner cylinder；The promotion supplementary structure include axle sleeve,
Axis pin and V-groove bearing, V-groove bearing are connected by axis pin with connector, have axle sleeve to carry out axially position in bearing both sides, Gu
The steel wire rope on third bleed screw is scheduled on around V-groove bearing and the first spring on interior enhancing ring in interior hoisting mechanism to connect
It connects；The second bleed screw is connected with steel wire rope on outer hoisting mechanism China and foreign countries enhancing ring, and the other end of steel wire rope is connected with shaft
4th bleed screw and the connection of axis pin centre position on body.
The attachment bio-mechanism unit includes that 4 pawls pierce unit, several connectors and corresponding elastic element, the pawl
Thorn unit is connected by three axis pins with claw-plate, and wherein the first axis pin of claw-plate front end can move in the sliding slot that pawl pierces unit
It is dynamic；Claw-plate is connected with slide-bar by fixing screws, and third spring is cased on slide-bar, and slide-bar passes through shaft connector and shaft to connect
Junctor is clearance fit, can be slided in shaft connector, third bleed screw is connected to the other end of slide-bar；Shaft connects
Body is equipped with the 4th bleed screw, and shaft connector is connected by the 4th axis pin with connector, the 4th axis pin and shaft connector
Between between clearance fit, with connector for interference fit；There are torsional spring, a foot of torsional spring between shaft connector and connector
It is inserted in the hole on shaft connector, in addition a foot is fixed on by torsional spring pressing plate and tapping screw on connector, and connector is solid
It is scheduled on lower adapter ring；Steel wire rope be connected in third bleed screw on the 4th bleed screw and the slide-bar on shaft connector and
Among second axis pin, to ensure the posture of attachment bio-mechanism unit.
The pawl thorn unit includes steel nail, buckle spring, screw and front part and rear part, is led in the front part
Interference fit, three steel nails are stuck in fixing groove；There is otic placode in front part and rear part, there is screw thread, preceding structure in otic placode
There are a pair of of buckle spring, screw that the hook of buckle spring is passed through to be fixed on otic placode between part and rear part.
A kind of control method of the Upon Flexible Adhesion mechanism with profile-followed ability of the present invention is as follows, and attaching process is：Work as control
89C52 microcontrollers scanning in unit processed is closed to switch, then plug-type in first control line driving unit and its auxiliary body
Electromagnet powers off, and attachment bio-mechanism unit is laid down.After the time of setting, control motor rotation, and reaching setting position
Postpone motor stalls.At this point, steel wire rope drives interior enhancing ring to rise and finally drives the cunning in attachment bio-mechanism unit
Axis slides in shaft connector.Each pawl thorn unit works independently, if being already attached to working surface in pawl thorn unit
Buckle spring extends；If unattached, pawl thorn unit follows slide-bar movement until attachment.It loosens process：Control unit is swept
It retouches switch to disconnect, then driving motor inverts, and interior enhancing ring is put down, and under the action of third spring on slide-bar, adheres to bionical machine
Structure unit is restored to initial position, and the buckle spring that pawl pierces unit restores.After setting time, push-pull electromagnet is powered,
Adhere to bio-mechanism unit lifting.
The present invention compared with prior art, has substantive distinguishing features following prominent and remarkable advantage：
1. present invention driving stretches driving using line, a prime mover can control multiple attachment bio-mechanism units and synchronize fortune
Dynamic, quality is small, at low cost.
2. the present invention simulates the attachment bio-mechanism unit of high climbing ability biology design, there is reliability height, adhesive force
Greatly, the characteristics of the operation is stable.
3. the present invention provides an open platform, a variety of detecting devices can be installed, and can be according to specific work
The quantity of environment increase and decrease attachment bio-mechanism or the size of changing mechanism, have high open, higher scientific research value.
Description of the drawings
Fig. 1 is a kind of general structure schematic diagram of the Upon Flexible Adhesion mechanism with profile-followed ability.
Fig. 2 is the structural schematic diagram of line driving unit and its supplementary structure and attachment bio-mechanism unit.
Fig. 3 is the attachment bio-mechanism unit general structure schematic diagram of the present invention.
Fig. 4 is the pawl thorn cellular construction schematic diagram of the present invention.
Fig. 5 is the general structure schematic diagram of hoisting mechanism and outer hoisting mechanism in the present invention.
Fig. 6 is hoisting mechanism internal structure schematic diagram in the present invention.
Specific implementation mode
Concrete structure, operation principle and the course of work for embodiment that present invention be described in more detail below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, a kind of Upon Flexible Adhesion mechanism with profile-followed ability, including the driving of control unit I, line are single
Member and its supplementary structure II and attachment bio-mechanism unit III, described control unit I use microcontroller and several switches, control
Line driving unit and its auxiliary body II, final control attachment bio-mechanism unit III realize function；Microcontroller is by dynamically sweeping
The state of switch is retouched to which whether decision mechanism works, control push-pull electromagnet 32 respectively and is connected with the motor of sheave 25
28；The division of push-pull electromagnet 32 and the rotation of motor 28, are all directly changed the state for the steel wire rope 3 being attached thereto, band
Dynamic attachment bio-mechanism unit III does corresponding movement.
As shown in Figure 5 and Figure 6, the line driving unit and its supplementary structure II include interior hoisting mechanism 1, outer hoisting mechanism
2 and promoted supplementary structure；The interior hoisting mechanism 1 includes sheave 25, motor 28, inner cylinder 29, lower adapter ring 33, optical axis 35, straight
Spool holds 36, positioning bearing 37, motor rack 38, shaft bearing plate 39, eye bolt 40, interior enhancing ring 41, the first bleed screw 42, the
One spring 43；The motor 28 is fixed on motor rack 38, and motor rack 38 is fixed on shaft bearing plate 39, the output of the motor 28
Axis fixed sheave 25, sheave 25 are traction sheave, are connected with steel wire rope 3, the other end of steel wire rope 3 is fixed on across eye bolt 40
On first bleed screw 42, within the first bleed screw 42 centered on 41 center of circle of enhancing ring, it is uniformly distributed and is fixed on interior enhancing ring
On 41, the first spring 43 is hung on each first bleed screw 42, be connected on the first spring 43 from V-groove bearing 13 around
The steel wire rope 3 gone out；Fixed on interior enhancing ring 41 there are two linear bearings 36, and two linear bearings 36 can be respectively along two optical axises
35 slidings, the both ends of optical axis 35 coordinate with positioning bearing 37 respectively, and the positioning bearing 37 of one end is fixed on inner cylinder 29, and in addition one
The positioning bearing 37 at end is fixed on shaft bearing plate 39, and shaft bearing plate 39 is connected by the first bolt 34 and inner cylinder 29, and lower adapter ring 33 is solid
It is scheduled on 29 bottom of inner cylinder；The outer hoisting mechanism 2 includes outer enhancing ring 26, the second bleed screw 27, second spring 31, plug-type
Electromagnet 32, there is a gap between the outer enhancing ring 26 and inner cylinder 29, the second band is uniformly distributed around its center on outer enhancing ring 26
Hole screw 27；Push-pull electromagnet 32 connects outer enhancing ring 26 by the second bolt 30 and connects, and the upper end is equipped with second spring 31,
Lower end, which is threaded, to be connected to by nut on inner cylinder 29；The promotion supplementary structure includes axle sleeve 14, axis pin 12 and V-groove axis
13 are held, V-groove bearing 13 is connected by axis pin 12 and connector 15, has axle sleeve 14 to carry out axially position in 13 both sides of bearing, Gu
The steel wire rope 3 on third bleed screw 16-1 is scheduled on around the on interior enhancing ring 41 in V-groove bearing 13 and interior hoisting mechanism 1
One spring 43 connects；The second bleed screw 27 is connected with steel wire rope 3 on 2 China and foreign countries' enhancing ring 26 of outer hoisting mechanism, steel wire rope 3 it is another
Outer one end is connected with the 4th bleed screw 16-2 on shaft connector 8 and the centre positions axis pin 4-2.
Units 18, several connectors and corresponding are pierced as shown in figure 3, the attachment bio-mechanism unit III includes 4 pawls
Elastic element, the pawl thorn unit 18 are connected by three axis pins with claw-plate 5, wherein the first axis pin 4-1 energy of 5 front end of claw-plate
It is moved in the sliding slot 19-1 that pawl pierces unit 18；Claw-plate 5 and slide-bar 17 are connected by fixing screws 6, and third is cased on slide-bar 17
Spring 7, it is clearance fit that slide-bar 17, which passes through shaft connector 8 and shaft connector 8, can be slided in shaft connector 8, the
Three bleed screw 16-1 are connected to the other end of slide-bar 17；Shaft connector 8 is equipped with the 4th bleed screw 16-2, and shaft connects
Junctor 8 is connected by the 4th axis pin 4-4 and connector 15, is clearance fit between the 4th axis pin 4-4 and shaft connector 8, with
It is interference fit between connector 15；There are torsional spring 9, a foot of torsional spring 9 to be inserted in shaft company between shaft connector 8 and connector 15
In hole on junctor 8, in addition a foot is fixed on by torsional spring pressing plate 11 and tapping screw 10 on connector 15, and connector 15 is fixed
On lower adapter ring 33；The third that steel wire rope 3 is connected on the 4th bleed screw 16-2 and the slide-bar 17 on shaft connector 8 is with holes
Among screw 16-1 and the second axis pin 4-2, to ensure the posture of attachment bio-mechanism unit III.
As shown in figure 4, pawl thorn unit 18 include steel nail 21, buckle spring 22, screw 24 and front part 20 and after
Three steel nails 21 are stuck in fixing groove by component 23 by interference fit in the front part 20；Front part 20 and rear part
There is otic placode on 23, there is screw thread in otic placode, there is a pair of of buckle spring 22, screw 24 to pass through band between front part 20 and rear part 23
The hook of hook spring 22 is fixed on otic placode.
The course of work of apparatus of the present invention is as follows：
Assuming that unattached state is original state, then push-pull electromagnet 32 is energized state at this time, adheres to bio-mechanism unit
III is raised configuration, and interior enhancing ring 41 is located at 29 lower end of inner cylinder.Push-pull electromagnet 32 powers off, in second spring 31 and gravity
Under effect, outer enhancing ring 26 declines along 29 outer wall of inner cylinder, and attachment bio-mechanism unit III is laid down.By the time of setting
Afterwards, motor 28 starts to rotate, and interior enhancing ring 41 is pulled up to the extreme higher position of setting by steel wire rope 3.At this point, passing through interior promotion
Steel wire rope 3 on the first spring 43 in mechanism 1 is driven, and slide-bar 17 is driven to move, and third spring 7 compresses on slide-bar 17.At this point,
Pawl in single attachment bio-mechanism unit III pierces buckle bullet of the unit 18 if being already attached on ground in pawl thorn unit 18
Spring 22 stretches, and pawl thorn unit 18 is driven by slide-bar 17 until being attached to ground if unattached.The above process is attaching process.It is attached
The process of wearing terminate to return to original state to loosen process as follows：Motor 28 is inverted to 29 lower end position of inner cylinder, then is connected to interior carry
The steel wire rope 3 risen on the first spring 43 in mechanism 1 loosens, and third spring 7 restores on slide-bar 17, and claw-plate 5 is pushed out, and adheres to
Pawl thorn unit 18 be relaxed.After the time of setting, push-pull electromagnet 32 is powered, and attachment bio-mechanism unit III rises.
In the present embodiment, an attachment mechanism is made of 15 attachment bio-mechanism units III, by changing each attachment
The state of 2 driving lines on bio-mechanism unit III, realizes attachment mechanism and the attachment of work surface and detaches.Entire attachment mechanism
Only 2 drivers, each driver can make 15 attachment bio-mechanism units III that identical pose variation occur.It compares
Traditional attachment mechanism, the present invention are capable of providing the adhesive force of bigger, most there is better terrain adaptability, have higher scientific research
Value.
Claims (4)
1. a kind of Upon Flexible Adhesion mechanism with profile-followed ability, including control unit（Ⅰ）, line driving unit and its supplementary structure
（Ⅱ）With attachment bio-mechanism unit（Ⅲ）, it is characterised in that：Described control unit（Ⅰ）Using microcontroller and several switches,
Control line driving unit and its auxiliary body（Ⅱ）, final control attachment bio-mechanism unit（Ⅲ）Realize function；Microcontroller is logical
The state of dynamic scan switch is crossed to which whether decision mechanism works, controls push-pull electromagnet respectively（32）Be connected with sheave
（25）Motor（28）；Push-pull electromagnet（32）Division and motor（28）Rotation, be all directly changed and to be attached thereto
Steel wire rope（3）State, drive attachment bio-mechanism unit（Ⅲ）Do corresponding movement.
2. the Upon Flexible Adhesion mechanism according to claim 1 with profile-followed ability, it is characterised in that：The line driving unit
And its supplementary structure（Ⅱ）Including interior hoisting mechanism（1）, outer hoisting mechanism（2）And promote supplementary structure；The interior elevator
Structure（1）Including sheave（25）, motor（28）, inner cylinder（29）, lower adapter ring（33）, optical axis（35）, linear bearing（36）, positioning bearing
（37）, motor rack（38）, shaft bearing plate（39）, eye bolt（40）, interior enhancing ring（41）, the first bleed screw（42）, the first bullet
Spring（43）；The motor（28）It is fixed on motor rack（38）On, motor rack（38）It is fixed on shaft bearing plate（39）On, the motor
（28）Output shaft fixed sheave（25）, sheave（25）For traction sheave, it is connected with steel wire rope（3）, steel wire rope（3）The other end wear
Cross eye bolt（40）It is fixed on the first bleed screw（42）On, the first bleed screw（42）Within enhancing ring（41）During the center of circle is
The heart is uniformly distributed and is fixed on interior enhancing ring（41）On, each first bleed screw（42）On all hang the first spring（43）, first
Spring（43）On be connected with from V-groove bearing（13）In the steel wire rope that lays out（3）；Interior enhancing ring（41）There are two straight lines for upper fixation
Bearing（36）, two linear bearings（36）It can be respectively along two optical axises（35）Sliding, optical axis（35）Both ends respectively and positioning
Bearing（37）Cooperation, the positioning bearing of one end（37）It is fixed on inner cylinder（29）On, other end of positioning bearing（37）It is fixed on
Shaft bearing plate（39）On, shaft bearing plate（39）Pass through the first bolt（34）And inner cylinder（29）Connection, lower adapter ring（33）It is fixed on inner cylinder
（29）Bottom；The outer hoisting mechanism（2）Including outer enhancing ring（26）, the second bleed screw（27）, second spring（31）, push-and-pull
Formula electromagnet（32）, the outer enhancing ring（26）And inner cylinder（29）Between have gap, outer enhancing ring（26）On it is uniform around its center
It is distributed the second bleed screw（27）；Push-pull electromagnet（32）Pass through the second bolt（30）The outer enhancing ring of connection（26）Connection,
Upper end is equipped with second spring（31）, lower end is threaded is connected to inner cylinder by nut（29）On；The promotion supplementary structure packet
Include axle sleeve（14）, axis pin（12）With V-groove bearing（13）, V-groove bearing（13）Pass through axis pin（12）And connector（15）Connection,
In bearing（13）There are axle sleeve in both sides（14）Axially position is carried out, third bleed screw is fixed on（16-1）On steel wire rope（3）Around
Cross V-groove bearing（13）With interior hoisting mechanism（1）In interior enhancing ring（41）On the first spring（43）Connection；Outer hoisting mechanism
（2）China and foreign countries' enhancing ring（26）Upper second bleed screw（27）It is connected with steel wire rope（3）, steel wire rope（3）Other end and shaft
Connector（8）Upper 4th bleed screw（16-2）And axis pin（4-2）Centre position connects.
3. the Upon Flexible Adhesion mechanism according to claim 1 with profile-followed ability, it is characterised in that：The bionical machine of attachment
Structure unit（Ⅲ）Unit is pierced including 4 pawls（18）, several connectors and corresponding elastic element, the pawl pierces unit（18）Pass through
Three axis pins and claw-plate（5）It is connected, wherein claw-plate（5）First axis pin of front end（4-1）Unit can be pierced in pawl（18）Sliding slot
（19-1）Middle movement；Claw-plate（5）And slide-bar（17）Pass through fixing screws（6）Connection, slide-bar（17）On be cased with third spring（7）,
Slide-bar（17）Across shaft connector（8）And shaft connector（8）It is clearance fit, it can be in shaft connector（8）Middle sliding,
Third bleed screw（16-1）It is connected to slide-bar（17）Other end；Shaft connector（8）It is equipped with the 4th bleed screw
（16-2）, shaft connector（8）Pass through the 4th axis pin（4-4）And connector（15）Connection, the 4th axis pin（4-4）It is connect with shaft
Body（8）Between be clearance fit, with connector（15）Between for interference fit；Shaft connector（8）And connector（15）Between
There is torsional spring（9）, torsional spring（9）A foot be inserted in shaft connector（8）On hole in, in addition a foot passes through torsional spring pressing plate（11）With oneself
Attack screw（10）It is fixed on connector（15）On, connector（15）It is fixed on lower adapter ring（33）On；Steel wire rope（3）It is connected in shaft
Connector（8）On the 4th bleed screw（16-2）And slide-bar（17）On third bleed screw（16-1）And second axis pin
（4-2）Centre, to ensure to adhere to bio-mechanism unit（Ⅲ）Posture.
4. the Upon Flexible Adhesion mechanism according to claim 3 with profile-followed ability, it is characterised in that：The pawl pierces unit
（18）Including steel nail（21）, buckle spring（22）, screw（24）And front part（20）And rear part（23）, the front part
（20）It is upper to pass through interference fit, by three steel nails（21）It is stuck in fixing groove；Front part（20）And rear part（23）On have ear
Plate has screw thread, front part in otic placode（20）And rear part（23）Between have a pair of of buckle spring（22）, screw（24）Across buckle
Spring（22）Hook be fixed on otic placode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810527230.1A CN108438080B (en) | 2018-05-29 | 2018-05-29 | Flexible attachment mechanism with shape following capability |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810527230.1A CN108438080B (en) | 2018-05-29 | 2018-05-29 | Flexible attachment mechanism with shape following capability |
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| Publication Number | Publication Date |
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| CN108438080A true CN108438080A (en) | 2018-08-24 |
| CN108438080B CN108438080B (en) | 2021-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810527230.1A Active CN108438080B (en) | 2018-05-29 | 2018-05-29 | Flexible attachment mechanism with shape following capability |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561482A (en) * | 2019-08-27 | 2019-12-13 | 南京理工大学 | Bionic flexible claw thorn type opposite grabbing mechanism |
| CN111267985A (en) * | 2020-02-16 | 2020-06-12 | 李昕格 | Robot sole structure with pre-cleaning function |
| WO2021027083A1 (en) * | 2019-08-15 | 2021-02-18 | 清华大学 | Adhesion and desorption control device |
| CN112577772A (en) * | 2020-12-07 | 2021-03-30 | 南京航空航天大学 | Controllable thorn claw attachment grabbing mechanism for small celestial body detection and working method |
| CN113060307A (en) * | 2021-03-11 | 2021-07-02 | 哈尔滨工业大学 | Multi-finger self-adaptive flexible grabbing mechanism for fixing star catalogue and grabbing method thereof |
| CN113075743A (en) * | 2021-03-11 | 2021-07-06 | 哈尔滨工业大学 | Climbing robot for star catalogue exploration and using method thereof |
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| CN204184485U (en) * | 2014-09-05 | 2015-03-04 | 南京邮电大学 | The graping chaw mechanism of hydraulically rough surface climbing robot |
| CN107054490A (en) * | 2017-05-04 | 2017-08-18 | 河海大学常州校区 | A kind of robot sole with rope driving toe |
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| RO127815A2 (en) * | 2011-03-17 | 2012-09-28 | Universitatea Tehnică ''gheorghe Asachi'' Din Iaşi | Walking robot with unconventional drive |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021027083A1 (en) * | 2019-08-15 | 2021-02-18 | 清华大学 | Adhesion and desorption control device |
| CN110561482A (en) * | 2019-08-27 | 2019-12-13 | 南京理工大学 | Bionic flexible claw thorn type opposite grabbing mechanism |
| CN111267985A (en) * | 2020-02-16 | 2020-06-12 | 李昕格 | Robot sole structure with pre-cleaning function |
| CN111267985B (en) * | 2020-02-16 | 2021-05-25 | 李昕格 | Robot sole structure with pre-cleaning function |
| CN112577772A (en) * | 2020-12-07 | 2021-03-30 | 南京航空航天大学 | Controllable thorn claw attachment grabbing mechanism for small celestial body detection and working method |
| CN112577772B (en) * | 2020-12-07 | 2022-06-28 | 南京航空航天大学 | Controllable thorn claw attaching and grabbing mechanism for small celestial body detection and working method |
| CN113060307A (en) * | 2021-03-11 | 2021-07-02 | 哈尔滨工业大学 | Multi-finger self-adaptive flexible grabbing mechanism for fixing star catalogue and grabbing method thereof |
| CN113075743A (en) * | 2021-03-11 | 2021-07-06 | 哈尔滨工业大学 | Climbing robot for star catalogue exploration and using method thereof |
| CN113075743B (en) * | 2021-03-11 | 2023-12-22 | 哈尔滨工业大学 | Climbing robot for star watch detection and application method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108438080B (en) | 2021-08-10 |
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